auto-sync 2026-07-02T14:58:13Z workspace (part 7)
Browse files- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrel_summary.json +481 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrel_summary.md +19 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrelz_summary.json +481 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrelz_summary.md +19 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_zscore_summary.json +481 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_zscore_summary.md +19 -0
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrel_summary.json
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| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 13 |
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| 14 |
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"rows": [
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| 15 |
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{
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| 16 |
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"seed": 0,
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| 17 |
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"path": "/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_srcscore001_metric_taskrel.json",
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 31 |
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| 32 |
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| 33 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 52 |
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| 55 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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},
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+
"policy_expert_regret": 0.8179064658470452,
|
| 429 |
+
"policy_oracle_regret": 0.9109260463155806,
|
| 430 |
+
"policy_rollout_progress": 0.6580991436106464,
|
| 431 |
+
"policy_rollout_success_rate": 0.3645833333333333,
|
| 432 |
+
"restore_max_error": 1.955777406692505e-07
|
| 433 |
+
},
|
| 434 |
+
"PickCube-v1": {
|
| 435 |
+
"action_mse_to_best": 0.5025136812467768,
|
| 436 |
+
"expert_success_rate": 0.9444444444444444,
|
| 437 |
+
"num_groups": 198,
|
| 438 |
+
"oracle_success_rate": 0.9595959595959596,
|
| 439 |
+
"policy_expert_regret": 0.9676363274097594,
|
| 440 |
+
"policy_oracle_regret": 0.9747197779384676,
|
| 441 |
+
"policy_rollout_progress": 0.6337008711722012,
|
| 442 |
+
"policy_rollout_success_rate": 0.35353535353535354,
|
| 443 |
+
"restore_max_error": 2.384185791015625e-07
|
| 444 |
+
},
|
| 445 |
+
"PullCube-v1": {
|
| 446 |
+
"action_mse_to_best": 0.6643689109219445,
|
| 447 |
+
"expert_success_rate": 0.24444444444444444,
|
| 448 |
+
"num_groups": 90,
|
| 449 |
+
"oracle_success_rate": 0.4666666666666667,
|
| 450 |
+
"policy_expert_regret": 0.31186816998653943,
|
| 451 |
+
"policy_oracle_regret": 0.4993719957975878,
|
| 452 |
+
"policy_rollout_progress": 0.34372065288739073,
|
| 453 |
+
"policy_rollout_success_rate": 0.23333333333333334,
|
| 454 |
+
"restore_max_error": 2.384185791015625e-07
|
| 455 |
+
},
|
| 456 |
+
"PushCube-v1": {
|
| 457 |
+
"action_mse_to_best": 0.5080124131671273,
|
| 458 |
+
"expert_success_rate": 0.8514851485148515,
|
| 459 |
+
"num_groups": 101,
|
| 460 |
+
"oracle_success_rate": 1.0,
|
| 461 |
+
"policy_expert_regret": 0.30721950855585606,
|
| 462 |
+
"policy_oracle_regret": 0.3799329262853849,
|
| 463 |
+
"policy_rollout_progress": 0.8180868756948131,
|
| 464 |
+
"policy_rollout_success_rate": 0.801980198019802,
|
| 465 |
+
"restore_max_error": 2.384185791015625e-07
|
| 466 |
+
},
|
| 467 |
+
"StackCube-v1": {
|
| 468 |
+
"action_mse_to_best": 0.6097392688401871,
|
| 469 |
+
"expert_success_rate": 0.7666666666666667,
|
| 470 |
+
"num_groups": 90,
|
| 471 |
+
"oracle_success_rate": 0.9111111111111111,
|
| 472 |
+
"policy_expert_regret": 1.134208650721444,
|
| 473 |
+
"policy_oracle_regret": 1.2575619707504908,
|
| 474 |
+
"policy_rollout_progress": 0.4508909093009101,
|
| 475 |
+
"policy_rollout_success_rate": 0.17777777777777778,
|
| 476 |
+
"restore_max_error": 2.2351741790771484e-07
|
| 477 |
+
}
|
| 478 |
+
}
|
| 479 |
+
}
|
| 480 |
+
]
|
| 481 |
+
}
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrel_summary.md
ADDED
|
@@ -0,0 +1,19 @@
|
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|
| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1`
|
| 5 |
+
Result file: `policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrel.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
|
| 10 |
+
Mean success: 37.22% +/- 1.66%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +7.48%
|
| 12 |
+
Mean progress: 58.49%
|
| 13 |
+
Mean action MSE to best: 0.512
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual direction | residual reduce | min type success | type success bonus | consensus penalty | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | candidate oracle | oracle gain | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---|---:|---:|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 48 | no | 6 | task_relative | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 37.39% | 58.60% | 85.74% | n/a | n/a | 0.496 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 6 | task_relative | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 35.48% | 57.25% | 86.96% | n/a | n/a | 0.505 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 6 | task_relative | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 38.78% | 59.62% | 87.65% | n/a | n/a | 0.534 |
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrelz_summary.json
ADDED
|
@@ -0,0 +1,481 @@
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1",
|
| 4 |
+
"out_name": "policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrelz.json",
|
| 5 |
+
"num_completed": 3,
|
| 6 |
+
"baseline_h4_policy_success": 0.2967,
|
| 7 |
+
"baseline_h16_rank_checkpoint_success": 0.29739130434782607,
|
| 8 |
+
"mean_success": 0.3698550724637681,
|
| 9 |
+
"std_success": 0.02015691437763908,
|
| 10 |
+
"mean_progress": 0.5848812929805928,
|
| 11 |
+
"mean_action_mse_to_best": 0.5108807214875908,
|
| 12 |
+
"gain_vs_h4": 0.07315507246376807,
|
| 13 |
+
"gain_vs_h16_rank_checkpoint": 0.07246376811594202,
|
| 14 |
+
"rows": [
|
| 15 |
+
{
|
| 16 |
+
"seed": 0,
|
| 17 |
+
"path": "/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_srcscore001_metric_taskrelz.json",
|
| 18 |
+
"num_groups": 575,
|
| 19 |
+
"selection_mode": "retrieval_residual",
|
| 20 |
+
"num_candidates": 48,
|
| 21 |
+
"candidate_sigma": 0.0,
|
| 22 |
+
"proposal_types": [],
|
| 23 |
+
"proposal_lattice_types": [],
|
| 24 |
+
"selection_margin": 0.0,
|
| 25 |
+
"prepend_policy_candidate": false,
|
| 26 |
+
"field_optim_steps": 0,
|
| 27 |
+
"field_optim_step_size": 0.0,
|
| 28 |
+
"field_optim_trust_radius": 0.0,
|
| 29 |
+
"field_optim_l2_penalty": 0.0,
|
| 30 |
+
"retrieval_neighbors": 6,
|
| 31 |
+
"retrieval_metric": "task_relative_zscore",
|
| 32 |
+
"retrieval_type_min_success": 0.0,
|
| 33 |
+
"retrieval_type_success_bonus_scale": 0.0,
|
| 34 |
+
"retrieval_residual_consensus_penalty_scale": 0.0,
|
| 35 |
+
"retrieval_residual_min_source_progress": 0.0,
|
| 36 |
+
"retrieval_residual_min_source_advantage": -1000000000.0,
|
| 37 |
+
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| 342 |
+
"retrieval_type_min_success": 0.0,
|
| 343 |
+
"retrieval_type_success_bonus_scale": 0.0,
|
| 344 |
+
"retrieval_residual_consensus_penalty_scale": 0.0,
|
| 345 |
+
"retrieval_residual_min_source_progress": 0.0,
|
| 346 |
+
"retrieval_residual_min_source_advantage": -1000000000.0,
|
| 347 |
+
"retrieval_residual_source_progress_bonus_scale": 0.0,
|
| 348 |
+
"retrieval_residual_source_score_bonus_scale": 0.01,
|
| 349 |
+
"retrieval_residual_source_advantage_bonus_scale": 0.0,
|
| 350 |
+
"retrieval_residual_composite_l2_penalty_scale": 0.0,
|
| 351 |
+
"retrieval_residual_scale": 1.0,
|
| 352 |
+
"retrieval_residual_scales": [
|
| 353 |
+
0.35,
|
| 354 |
+
0.4,
|
| 355 |
+
0.45
|
| 356 |
+
],
|
| 357 |
+
"retrieval_residual_anchor": "expert",
|
| 358 |
+
"retrieval_residual_direction": "candidate_minus_anchor",
|
| 359 |
+
"retrieval_residual_reduce": "compose_mean_by_type",
|
| 360 |
+
"retrieval_residual_challenger_types": [],
|
| 361 |
+
"retrieval_residual_challenger_scales": [],
|
| 362 |
+
"retrieval_residual_challenger_margin": 0.0,
|
| 363 |
+
"retrieval_residual_challenger_type_margins": {},
|
| 364 |
+
"retrieval_residual_challenger_tasks": [],
|
| 365 |
+
"retrieval_residual_challenger_type_tasks": {},
|
| 366 |
+
"lattice_exclude_types": [
|
| 367 |
+
"residual_random_negative",
|
| 368 |
+
"residual_wrong_direction",
|
| 369 |
+
"residual_near_miss+residual_no_op",
|
| 370 |
+
"residual_no_op+residual_wrong_gripper"
|
| 371 |
+
],
|
| 372 |
+
"lattice_exclude_type_tasks": {},
|
| 373 |
+
"candidate_type_bonuses": {},
|
| 374 |
+
"candidate_type_bonuses_by_task": {},
|
| 375 |
+
"candidate_type_bonus_components": false,
|
| 376 |
+
"candidate_oracle_rollouts": 0,
|
| 377 |
+
"candidate_oracle_unique_tolerance": 1e-06,
|
| 378 |
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"candidate_oracle_success_rate": null,
|
| 379 |
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"candidate_oracle_progress": null,
|
| 380 |
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"candidate_oracle_score": null,
|
| 381 |
+
"candidate_oracle_regret": null,
|
| 382 |
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"candidate_oracle_score_gain_over_selected": null,
|
| 383 |
+
"candidate_oracle_unique_count": null,
|
| 384 |
+
"candidate_oracle_improvement_rate": null,
|
| 385 |
+
"candidate_oracle_selected_branch_success_rate": null,
|
| 386 |
+
"candidate_oracle_selected_branch_progress": null,
|
| 387 |
+
"candidate_oracle_type_counts": {},
|
| 388 |
+
"candidate_oracle_best_branch_rank": null,
|
| 389 |
+
"candidate_oracle_best_branch_rank_counts": {},
|
| 390 |
+
"candidate_oracle_branch_success_rates": [],
|
| 391 |
+
"candidate_oracle_branch_progress": [],
|
| 392 |
+
"candidate_oracle_branch_score_gains_over_selected": [],
|
| 393 |
+
"selected_residual_scale_counts": {
|
| 394 |
+
"0.35": 300,
|
| 395 |
+
"0.45": 195,
|
| 396 |
+
"0.4": 80
|
| 397 |
+
},
|
| 398 |
+
"policy_rollout_success_rate": 0.39304347826086955,
|
| 399 |
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"policy_rollout_progress": 0.6014707674037503,
|
| 400 |
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"oracle_success_rate": 0.8765217391304347,
|
| 401 |
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"action_mse_to_best": 0.5326611640579675,
|
| 402 |
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"best_policy_val": {
|
| 403 |
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"bc_loss": 0.2974168997671869,
|
| 404 |
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"field_effect_loss": 0.009809228720971279,
|
| 405 |
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"field_potential_loss": 0.29470594475666684,
|
| 406 |
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"field_preference_loss": 0.5080636441707611,
|
| 407 |
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"lattice_edges": 3833.3333333333335,
|
| 408 |
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"progress_mae": 0.1944621221886741,
|
| 409 |
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"proposal_loss": 0.0,
|
| 410 |
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"rank_acc": 0.8252745270729065,
|
| 411 |
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"rank_loss": 0.5080037944846683,
|
| 412 |
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"regret_mae": 0.3989163488149643,
|
| 413 |
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"success_accuracy": 0.870691223276986,
|
| 414 |
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"total_loss": 0.2595750474267536,
|
| 415 |
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"transport_field_candidates": 0.0,
|
| 416 |
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"transport_field_edges": 0.0,
|
| 417 |
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"transport_field_loss": 0.0,
|
| 418 |
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"transport_field_potential_loss": 0.0,
|
| 419 |
+
"transport_field_preference_loss": 0.0,
|
| 420 |
+
"transport_field_rank_acc": 0.0
|
| 421 |
+
},
|
| 422 |
+
"per_task": {
|
| 423 |
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"LiftPegUpright-v1": {
|
| 424 |
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"action_mse_to_best": 0.4301719583551555,
|
| 425 |
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"expert_success_rate": 0.8229166666666666,
|
| 426 |
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"num_groups": 96,
|
| 427 |
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"oracle_success_rate": 0.9270833333333334,
|
| 428 |
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"policy_expert_regret": 0.8189836051315069,
|
| 429 |
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"policy_oracle_regret": 0.9120031856000423,
|
| 430 |
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"policy_rollout_progress": 0.6570220043261846,
|
| 431 |
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"policy_rollout_success_rate": 0.3645833333333333,
|
| 432 |
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"restore_max_error": 1.955777406692505e-07
|
| 433 |
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},
|
| 434 |
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"PickCube-v1": {
|
| 435 |
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"action_mse_to_best": 0.49772106083768486,
|
| 436 |
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"expert_success_rate": 0.9444444444444444,
|
| 437 |
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"num_groups": 198,
|
| 438 |
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"oracle_success_rate": 0.9595959595959596,
|
| 439 |
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"policy_expert_regret": 0.9751971047653845,
|
| 440 |
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"policy_oracle_regret": 0.9822805552940929,
|
| 441 |
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"policy_rollout_progress": 0.636241103917586,
|
| 442 |
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"policy_rollout_success_rate": 0.3434343434343434,
|
| 443 |
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"restore_max_error": 2.384185791015625e-07
|
| 444 |
+
},
|
| 445 |
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"PullCube-v1": {
|
| 446 |
+
"action_mse_to_best": 0.6605500661664538,
|
| 447 |
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"expert_success_rate": 0.24444444444444444,
|
| 448 |
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"num_groups": 90,
|
| 449 |
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"oracle_success_rate": 0.4666666666666667,
|
| 450 |
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"policy_expert_regret": 0.3101457569644683,
|
| 451 |
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"policy_oracle_regret": 0.49626951777479716,
|
| 452 |
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"policy_rollout_progress": 0.35522911733844215,
|
| 453 |
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"policy_rollout_success_rate": 0.24444444444444444,
|
| 454 |
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"restore_max_error": 2.384185791015625e-07
|
| 455 |
+
},
|
| 456 |
+
"PushCube-v1": {
|
| 457 |
+
"action_mse_to_best": 0.5114603226285169,
|
| 458 |
+
"expert_success_rate": 0.8514851485148515,
|
| 459 |
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"num_groups": 101,
|
| 460 |
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"oracle_success_rate": 1.0,
|
| 461 |
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"policy_expert_regret": 0.26736475010909655,
|
| 462 |
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"policy_oracle_regret": 0.3036904891233633,
|
| 463 |
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"policy_rollout_progress": 0.8547253524607951,
|
| 464 |
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"policy_rollout_success_rate": 0.8415841584158416,
|
| 465 |
+
"restore_max_error": 2.384185791015625e-07
|
| 466 |
+
},
|
| 467 |
+
"StackCube-v1": {
|
| 468 |
+
"action_mse_to_best": 0.6147543638323744,
|
| 469 |
+
"expert_success_rate": 0.7666666666666667,
|
| 470 |
+
"num_groups": 90,
|
| 471 |
+
"oracle_success_rate": 0.9111111111111111,
|
| 472 |
+
"policy_expert_regret": 1.1399508054057756,
|
| 473 |
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"policy_oracle_regret": 1.2764820527699259,
|
| 474 |
+
"policy_rollout_progress": 0.427755101190673,
|
| 475 |
+
"policy_rollout_success_rate": 0.17777777777777778,
|
| 476 |
+
"restore_max_error": 2.2351741790771484e-07
|
| 477 |
+
}
|
| 478 |
+
}
|
| 479 |
+
}
|
| 480 |
+
]
|
| 481 |
+
}
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrelz_summary.md
ADDED
|
@@ -0,0 +1,19 @@
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|
|
| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1`
|
| 5 |
+
Result file: `policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_taskrelz.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
|
| 10 |
+
Mean success: 36.99% +/- 2.02%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +7.25%
|
| 12 |
+
Mean progress: 58.49%
|
| 13 |
+
Mean action MSE to best: 0.511
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual direction | residual reduce | min type success | type success bonus | consensus penalty | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | candidate oracle | oracle gain | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---|---:|---:|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 48 | no | 6 | task_relative_zscore | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 35.65% | 57.39% | 85.74% | n/a | n/a | 0.493 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 6 | task_relative_zscore | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 36.00% | 57.93% | 86.96% | n/a | n/a | 0.507 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 6 | task_relative_zscore | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 39.30% | 60.15% | 87.65% | n/a | n/a | 0.533 |
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_zscore_summary.json
ADDED
|
@@ -0,0 +1,481 @@
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}
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},
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| 325 |
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{
|
| 326 |
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"seed": 2,
|
| 327 |
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"path": "/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_srcscore001_metric_zscore.json",
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"num_groups": 575,
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| 353 |
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0.35,
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0.4,
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| 355 |
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0.45
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| 356 |
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],
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"retrieval_residual_anchor": "expert",
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| 359 |
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| 360 |
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| 365 |
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"lattice_exclude_types": [
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"residual_random_negative",
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"residual_wrong_direction",
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| 369 |
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"residual_near_miss+residual_no_op",
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"residual_no_op+residual_wrong_gripper"
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| 371 |
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],
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"0.35": 317,
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"0.45": 191,
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"0.4": 67
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| 420 |
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| 421 |
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| 422 |
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| 423 |
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| 433 |
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| 435 |
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| 442 |
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| 444 |
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| 445 |
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| 446 |
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| 447 |
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| 448 |
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| 450 |
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|
| 455 |
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},
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|
| 461 |
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| 462 |
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| 463 |
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|
| 466 |
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},
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| 467 |
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|
| 468 |
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| 469 |
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| 470 |
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|
| 471 |
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|
| 472 |
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| 473 |
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|
| 474 |
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| 475 |
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|
| 476 |
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|
| 477 |
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}
|
| 478 |
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}
|
| 479 |
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}
|
| 480 |
+
]
|
| 481 |
+
}
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_zscore_summary.md
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1`
|
| 5 |
+
Result file: `policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore001_metric_zscore.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
|
| 10 |
+
Mean success: 37.86% +/- 1.22%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +8.12%
|
| 12 |
+
Mean progress: 59.09%
|
| 13 |
+
Mean action MSE to best: 0.522
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual direction | residual reduce | min type success | type success bonus | consensus penalty | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | candidate oracle | oracle gain | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---|---:|---:|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 48 | no | 6 | zscore | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 37.74% | 58.24% | 85.74% | n/a | n/a | 0.501 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 6 | zscore | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 36.70% | 58.42% | 86.96% | n/a | n/a | 0.521 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 6 | zscore | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.010 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 39.13% | 60.61% | 87.65% | n/a | n/a | 0.544 |
|