Auto-sync: 2026-06-27 10:26:03 (part 2)

scripts/eval_maniskill_policy_rollout.py

@@ -38,11 +38,12 @@ def main(argv: list[str] | None = None) -> int:
     )
     parser.add_argument(
         "--selection-mode",
-        choices=("policy", "field", "lattice"),
+        choices=("policy", "field", "lattice", "retrieval_lattice"),
         default="policy",
         help="'policy' executes the deterministic policy mean; 'field' scores model-generated "
         "candidates with the learned interventional field; 'lattice' scores the current "
-        "state's CIL action lattice without reading rewards.",
+        "state's CIL action lattice without reading rewards; 'retrieval_lattice' scores "
+        "the nearest train-state lattice for the current state.",
     )
     parser.add_argument(
         "--num-candidates",