Auto-sync: 2026-06-28 08:21:09

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_safe_types_margin0p20_summary.json

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+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_safe_types_margin0p20_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_scale0p25_safe_types_margin0p20.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 34.55% +/- 1.72%
+Gain vs h=16 rank checkpoint: +4.81%
+Mean progress: 56.25%
+Mean action MSE to best: 0.396
+
+| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.25 | 0.200 | 0.00 | 0 | 0.00 | 33.74% | 54.97% | 85.74% | 0.382 |
+| 1 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.25 | 0.200 | 0.00 | 0 | 0.00 | 33.39% | 55.83% | 86.96% | 0.389 |
+| 2 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.25 | 0.200 | 0.00 | 0 | 0.00 | 36.52% | 57.94% | 87.65% | 0.416 |

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p40_safe_types_margin0p20_summary.json

@@ -0,0 +1,292 @@
+{
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+  "objective": "near_miss_policy_bc5",
+  "out_name": "policy_rollout_retrieval_residual_scale0p40_safe_types_margin0p20.json",
+  "num_completed": 3,
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+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p40_safe_types_margin0p20_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_scale0p40_safe_types_margin0p20.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 34.78% +/- 1.68%
+Gain vs h=16 rank checkpoint: +5.04%
+Mean progress: 56.55%
+Mean action MSE to best: 0.397
+
+| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.40 | 0.200 | 0.00 | 0 | 0.00 | 34.09% | 55.33% | 85.74% | 0.383 |
+| 1 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.40 | 0.200 | 0.00 | 0 | 0.00 | 33.57% | 56.07% | 86.96% | 0.390 |
+| 2 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.40 | 0.200 | 0.00 | 0 | 0.00 | 36.70% | 58.24% | 87.65% | 0.418 |

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_safe_types_margin0p20_summary.json

@@ -0,0 +1,292 @@
+{
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+  "num_completed": 3,
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+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
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+  "gain_vs_h16_rank_checkpoint": 0.051014492753623186,
+  "rows": [
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+          "restore_max_error": 3.5762786865234375e-07
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+          "restore_max_error": 4.76837158203125e-07
+        },
+        "StackCube-v1": {
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+      }
+    }
+  ]
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_safe_types_margin0p20_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_scale0p50_safe_types_margin0p20.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 34.84% +/- 1.76%
+Gain vs h=16 rank checkpoint: +5.10%
+Mean progress: 56.59%
+Mean action MSE to best: 0.400
+
+| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.50 | 0.200 | 0.00 | 0 | 0.00 | 33.74% | 55.12% | 85.74% | 0.386 |
+| 1 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.50 | 0.200 | 0.00 | 0 | 0.00 | 33.91% | 56.39% | 86.96% | 0.391 |
+| 2 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.50 | 0.200 | 0.00 | 0 | 0.00 | 36.87% | 58.25% | 87.65% | 0.421 |

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p75_safe_types_margin0p20_summary.json

@@ -0,0 +1,292 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "near_miss_policy_bc5",
+  "out_name": "policy_rollout_retrieval_residual_scale0p75_safe_types_margin0p20.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.3443478260869565,
+  "std_success": 0.013803919883815241,
+  "mean_progress": 0.5630646219364133,
+  "mean_action_mse_to_best": 0.43697492087772793,
+  "gain_vs_h4": 0.0476478260869565,
+  "gain_vs_h16_rank_checkpoint": 0.04695652173913045,
+  "rows": [
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+      "num_groups": 575,
+      "selection_mode": "retrieval_residual",
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+      "candidate_sigma": 0.0,
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+        }
+      }
+    },
+    {
+      "seed": 1,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/policy_rollout_retrieval_residual_scale0p75_safe_types_margin0p20.json",
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+      "field_optim_l2_penalty": 0.0,
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+      "retrieval_type_min_success": 0.0,
+      "retrieval_residual_scale": 0.75,
+      "retrieval_residual_anchor": "expert",
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+      "policy_rollout_progress": 0.5640019817455956,
+      "oracle_success_rate": 0.8695652173913043,
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+        "StackCube-v1": {
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+      }
+    },
+    {
+      "seed": 2,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/policy_rollout_retrieval_residual_scale0p75_safe_types_margin0p20.json",
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+      "field_optim_l2_penalty": 0.0,
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+      "retrieval_metric": "raw",
+      "retrieval_type_min_success": 0.0,
+      "retrieval_residual_scale": 0.75,
+      "retrieval_residual_anchor": "expert",
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+      "policy_rollout_progress": 0.5778377190772185,
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+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PullCube-v1": {
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+          "num_groups": 90,
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+          "policy_oracle_regret": 0.5005048314799245,
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+          "policy_rollout_success_rate": 0.23333333333333334,
+          "restore_max_error": 4.0978193283081055e-07
+        },
+        "PushCube-v1": {
+          "action_mse_to_best": 0.41782953700806835,
+          "expert_success_rate": 0.8514851485148515,
+          "num_groups": 101,
+          "oracle_success_rate": 1.0,
+          "policy_expert_regret": 0.4179433489790057,
+          "policy_oracle_regret": 0.4727004269267073,
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+          "policy_rollout_success_rate": 0.7524752475247525,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.5996540967995921,
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+          "num_groups": 90,
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+          "policy_oracle_regret": 1.3000225931406022,
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+          "restore_max_error": 4.76837158203125e-07
+        }
+      }
+    }
+  ]
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p75_safe_types_margin0p20_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_scale0p75_safe_types_margin0p20.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 34.43% +/- 1.38%
+Gain vs h=16 rank checkpoint: +4.70%
+Mean progress: 56.31%
+Mean action MSE to best: 0.437
+
+| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.75 | 0.200 | 0.00 | 0 | 0.00 | 33.39% | 54.74% | 85.74% | 0.456 |
+| 1 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.75 | 0.200 | 0.00 | 0 | 0.00 | 33.91% | 56.40% | 86.96% | 0.404 |
+| 2 | retrieval_residual | 16 | 1 | raw | expert | 0.00 | 0.75 | 0.200 | 0.00 | 0 | 0.00 | 36.00% | 57.78% | 87.65% | 0.451 |