Auto-sync: 2026-06-28 01:47:01 (part 2)

results/README.md

@@ -22,14 +22,21 @@ Use these summaries for the current paper tables:
 - `h16_policy_ckpt_near_miss_policy_bc5_bestpt_field_sweep_summary.md`
 - `h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_v2_summary.md`
 - `h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_v2_summary.md`
-- pending scale-sweep summaries:
+- residual scale-sweep summaries:
   `h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale{0p25,0p50,0p75,1p25}_summary.md`
-- pending hybrid summaries:
+- residual-family mask summaries, currently active:
+  `h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_no_random_summary.md`,
+  `h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_no_random_wrongdir_summary.md`,
+  `h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_no_random_wrongdir_summary.md`,
+  `h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_safe_types_summary.md`
+- hybrid summaries:
   `h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_hybrid_k{32,64}_sigma*.md`
 - `h16_policy_ckpt_nonexpert_policy_bc5_summary.md`
 - `h16_policy_ckpt_nonexpert_policy_bc5_bestpt_field_sweep_summary.md`
 - `h16_policy_ckpt_field_selected_noexpert_bc5_summary.md`
 - `h16_policy_ckpt_field_selected_noexpert_bc5_bestpt_field_sweep_summary.md`
+- `h16_policy_ckpt_field_selected_noexpert_bc5_allmap_summary.md`
+- `h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep_summary.md`
 
 Known stale or incomplete files:
 
@@ -63,35 +70,39 @@ Completed deployment-clean diagnostics:
   no-expert candidates for the rest.
 - Jobs `14858328`-`14858333` completed train-split field-teacher distillation:
   direct student rollout is 26.84%, and field-guided rollout is 27.65%.
+- Jobs `14858449`-`14858455` completed aligned all-split field-teacher
+  distillation: direct student rollout is 28.00%, and field-guided rollout is
+  26.49%.
 
-Active field-teacher distillation jobs:
+Completed residual transport jobs:
 
-Last checked: `2026-06-28 05:26 UTC`.
+Last checked: `2026-06-28 05:47 UTC`.
 
-- Job `14858449` completed the all-split target map export for aligned validation
-  checkpoint selection and seed-invariant student train coverage.
-- Job `14858450` completed 3 seeds of `field_selected_noexpert_bc5_allmap` with
-  100% train/val target-map coverage.
-- Jobs `14858451`/`14858452` and `14858453`/`14858454` are pending priority and
-  will evaluate direct and field-guided allmap rollouts.
-- Job `14858455` rebuilds `paper_table_status.*` after the allmap summaries.
-
-Active residual transport jobs:
-
-- Code now supports `--retrieval-residual-scale`, defaulting to `1.0` so the
+- Code supports `--retrieval-residual-scale`, defaulting to `1.0` so the
   completed 32.12% result is unchanged.
 - Job `14858978` completed the CPU Apptainer unit smoke for residual scale
   selection after smoke jobs `14858889`/`14858894` caught two wiring bugs before
   rollout jobs started.
-- Jobs `14858875`/`14858876`, `14858877`/`14858878`,
-  `14858879`/`14858880`, and `14858881`/`14858882` evaluate residual scales
-  `0.25`, `0.50`, `0.75`, and `1.25`.
-- Job `14858883` rebuilds `paper_table_status.*` after the scale summaries.
+- Jobs `14858875`-`14858883` completed residual scales `0.25`, `0.50`, `0.75`,
+  and `1.25`. Scale `0.50` is the current best clean deployment bridge at
+  33.33%; scale `0.25` ties the previous clean best at 32.93%.
 - Job `14859041` completed the CPU Apptainer unit smoke for hybrid
   residual+Gaussian selection.
-- Jobs `14859042`/`14859043` and `14859044`/`14859045` evaluate residual+Gaussian
-  hybrid proposals at K32/sigma0.35 and K64/sigma0.50.
-- Job `14859046` rebuilds `paper_table_status.*` after the hybrid summaries.
+- Jobs `14859042`-`14859046` completed residual+Gaussian hybrids. K32/sigma0.35
+  reaches 31.30%; K64/sigma0.50 reaches 30.90%, so Gaussian hybridization is a
+  negative diagnostic.
+
+Active residual-family mask jobs:
+
+- Jobs `14859141`/`14859142` evaluate and summarize residual scale `0.50` while
+  excluding `residual_random_negative`.
+- Jobs `14859143`/`14859144` evaluate and summarize residual scale `0.50` while
+  excluding `residual_random_negative` and `residual_wrong_direction`.
+- Jobs `14859145`/`14859146` evaluate and summarize residual scale `0.25` with
+  the same random/wrong-direction mask.
+- Jobs `14859147`/`14859148` evaluate and summarize residual scale `0.50` with
+  the policy/no-op/wrong-gripper residual families.
+- Job `14859149` rebuilds `paper_table_status.*` after the masked summaries.
 
 Paper table automation:
 

results/dovla_cil_run_report_2026-06-27.md

@@ -13,7 +13,7 @@ The deployed h=16 behavior-cloning policy remains weak, but the interventional f
 | Near-miss distillation policy, BC x5 | 28.29% | -1.45 pp | Stronger BC improves slightly but remains below baseline |
 | Near-miss proposal + field, best-policy checkpoint | 26.32% | -3.42 pp | Field scoring around the BC-selected checkpoint is worse |
 | Near-miss proposal + field, field checkpoint | 30.14% | +0.41 pp | Deployment-clean route begins to recover the mechanism |
-| Near-miss proposal + field, BC x5 field checkpoint | 32.93% | +3.19 pp | Best deployment-clean result so far (`k64_sigma0.50`) |
+| Near-miss proposal + field, BC x5 field checkpoint | 32.93% | +3.19 pp | Strong deployment-clean bridge (`k64_sigma0.50`) |
 | Lattice field selection, no expert candidates | 56.99% | +27.25 pp | Conservative, reviewer-safe result |
 | Lattice field selection, near-miss only | 55.94% | +26.20 pp | Minimal local counterfactual proposal family |
 | Lattice field selection, no expert and no near-miss | 25.57% | -4.17 pp | Confirms near-miss proposals carry the gain |
@@ -25,7 +25,15 @@ The deployed h=16 behavior-cloning policy remains weak, but the interventional f
 | Best non-expert proposal + field | 26.49% | -3.25 pp | Broad proposal-field bridge also fails |
 | Field-selected no-expert policy, seed-0 train map | 26.84% | -2.90 pp | Train-split field-teacher student fails |
 | Field-selected no-expert policy + field, seed-0 train map | 27.65% | -2.09 pp | Field scoring around that student remains below baseline |
-| Train-state residual retrieval | 32.12% | +2.38 pp | Positive clean bridge, below current clean best |
+| Field-selected no-expert policy, aligned allmap | 28.00% | -1.74 pp | 100% target-map coverage still fails |
+| Field-selected no-expert policy + field, aligned allmap | 26.49% | -3.25 pp | Aligned field-teacher student remains below baseline |
+| Train-state residual retrieval | 32.12% | +2.38 pp | Positive clean bridge |
+| Train-state residual retrieval, scale 0.25 | 32.93% | +3.19 pp | Smaller tangent step ties prior clean best |
+| Train-state residual retrieval, scale 0.50 | 33.33% | +3.59 pp | Current best deployment-clean bridge |
+| Train-state residual retrieval, scale 0.75 | 32.70% | +2.96 pp | Larger tangent step is weaker |
+| Train-state residual retrieval, scale 1.25 | 32.52% | +2.78 pp | Further scale increase does not help |
+| Residual+Gaussian hybrid, K32 sigma0.35 | 31.30% | +1.57 pp | Hybrid proposals dilute residual transport |
+| Residual+Gaussian hybrid, K64 sigma0.50 | 30.90% | +1.16 pp | Larger hybrid search is worse |
 | KNN train-state residual retrieval | 29.91% | +0.17 pp | More retrieved tangent neighborhoods dilute the signal |
 
 Canonical summaries:
@@ -46,8 +54,12 @@ Canonical summaries:
 - `results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_field_sweep_summary.md`
 - `results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_v2_summary.md`
 - `results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_v2_summary.md`
+- `results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_summary.md`
+- `results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_hybrid_k32_sigma0p35_summary.md`
 - `results/h16_policy_ckpt_nonexpert_policy_bc5_summary.md`
 - `results/h16_policy_ckpt_nonexpert_policy_bc5_bestpt_field_sweep_summary.md`
+- `results/h16_policy_ckpt_field_selected_noexpert_bc5_allmap_summary.md`
+- `results/h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep_summary.md`
 - `results/h16_field_optim_near_miss_policy_bc5_bestpt_s4_trust05_afterany_summary.md`
 - `results/paper_table_status.md`
 - `results/field_selected_target_map_summary.md`
@@ -57,7 +69,7 @@ Non-canonical/stale summaries:
 - `results/h16_lattice_no_near_miss_no_expert_summary.md` was produced before fixing Slurm comma handling for multi-type exclusion. Use the `_v2` file instead.
 - `results/h16_policy_ckpt_near_miss_policy_bc5_field_k32_sigma0p35_summary.md` is absent/incomplete because the last seed was canceled after the `best.pt` field-checkpoint variant superseded it.
 
-## Current Update - 2026-06-28 05:03 UTC
+## Current Update - 2026-06-28 05:47 UTC
 
 The old optimistic h=16 policy story is no longer the paper story. Direct BC
 rollout stayed near 30%, while the same-state no-expert lattice reached 56.99%.
@@ -79,21 +91,31 @@ Completed since the first report:
   - all split: 2,873 groups, 2,273 `near_miss`, 600 non-near-miss no-expert targets.
 - Train-split field-teacher distillation completed as a negative diagnostic:
   direct student 26.84%, field-guided best 27.65%.
-
-Active field-teacher jobs:
-
-- `14858450` completed all-split `field_selected_noexpert_bc5_allmap` training
-  with 100% train/val target coverage for all three seeds.
-- `14858451`/`14858452` and `14858453`/`14858454` are pending priority to
-  evaluate direct and field-guided allmap rollouts.
-- `14858455` rebuilds `paper_table_status.*` after the allmap summaries.
-- `retrieval_residual_scale` support was added after the 32.12% nearest
-  residual result. Jobs `14858875`/`14858877`/`14858879`/`14858881` evaluate
-  scales `0.25`, `0.50`, `0.75`, and `1.25`; summaries
-  `14858876`/`14858878`/`14858880`/`14858882` and table rebuild `14858883`
-  are queued behind them. CPU unit smoke `14858978` validates the scale path;
-  earlier smoke attempts `14858889`/`14858894` caught and fixed two wiring bugs
-  before rollout jobs started.
+- Aligned all-split field-teacher distillation completed as a negative
+  diagnostic: direct student 28.00%, field-guided best 26.49%, despite 100%
+  target-map coverage.
+- Residual scale sweep completed. Scale `0.50` is now the strongest
+  deployment-clean result at 33.33%; scale `0.25` ties the previous clean best
+  at 32.93%; scales `0.75` and `1.25` are weaker at 32.70% and 32.52%.
+- Residual+Gaussian hybrids completed as negative diagnostics: K32/sigma0.35 is
+  31.30%, K64/sigma0.50 is 30.90%.
+
+Active residual-family mask jobs:
+
+- `14859141`/`14859142`: scale `0.50`, excluding `residual_random_negative`.
+- `14859143`/`14859144`: scale `0.50`, excluding `residual_random_negative` and
+  `residual_wrong_direction`.
+- `14859145`/`14859146`: scale `0.25`, excluding the same anti-goal residuals.
+- `14859147`/`14859148`: scale `0.50`, keeping policy/no-op/wrong-gripper
+  residual families.
+- `14859149`: rebuilds `paper_table_status.*` after the masked summaries.
+
+The motivation for this batch is the observed selected-candidate distribution
+in the 33.33% scale-0.50 run: `residual_random_negative` and
+`residual_wrong_direction` were selected 154 times across seeds and had low
+conditional success. If masked residual transport improves, the clean story
+becomes tighter: transferable local tangent proposals help only when the
+proposal family is consistent with the counterfactual field's local geometry.
 
 Use `results/paper_table_status.md` as the canonical current table. The job
 table below is historical and includes statuses that were true at earlier

results/h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep_summary.json

@@ -0,0 +1,985 @@
+{
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+  "baseline_h16_policy_success": 0.29739130434782607,
+  "num_result_files": 12,
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+  ],
+  "best": {
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+      2
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+  "rows": [
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+    },
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+      }
+    }
+  ]
+}

results/h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep_summary.md

@@ -0,0 +1,18 @@
+# h=16 Field-Guided Rollout Sweep
+
+Result root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep`
+Completed result files: 12
+Baseline h=4 policy success: 29.67%
+Baseline h=16 policy success: 29.74%
+
+| config | seeds | mean success | gain vs h=16 | progress | action MSE |
+|---|---:|---:|---:|---:|---:|
+| k16_sigma0.20 | 3 | 26.49% | -3.25% | 49.20% | 0.484 |
+| k32_sigma0.35 | 3 | 26.38% | -3.36% | 49.07% | 0.492 |
+| k8_sigma0.10 | 3 | 26.38% | -3.36% | 49.22% | 0.479 |
+| k64_sigma0.50 | 3 | 26.32% | -3.42% | 48.75% | 0.500 |
+
+Best config:
+- k16_sigma0.20
+- mean success: 26.49%
+- gain vs h=16 policy: -3.25%