Auto-sync: 2026-06-30 23:21:36
Browse files- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_noopwgcontact_challenger0p01_summary.json +505 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_noopwgcontact_challenger0p01_summary.md +19 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_wgpickpullstack_challenger0p01_summary.json +487 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_wgpickpullstack_challenger0p01_summary.md +19 -0
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_noopwgcontact_challenger0p01_summary.json
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| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "near_miss_policy_bc5",
|
| 4 |
+
"out_name": "policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_noopwgcontact_challenger0p01.json",
|
| 5 |
+
"num_completed": 3,
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| 6 |
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"baseline_h4_policy_success": 0.2967,
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| 7 |
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"baseline_h16_rank_checkpoint_success": 0.29739130434782607,
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| 8 |
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"mean_success": 0.34144927536231884,
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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"gain_vs_h16_rank_checkpoint": 0.04405797101449277,
|
| 14 |
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"rows": [
|
| 15 |
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{
|
| 16 |
+
"seed": 0,
|
| 17 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_noopwgcontact_challenger0p01.json",
|
| 18 |
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"num_groups": 575,
|
| 19 |
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"selection_mode": "retrieval_residual",
|
| 20 |
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"num_candidates": 48,
|
| 21 |
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"candidate_sigma": 0.0,
|
| 22 |
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"proposal_types": [],
|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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"retrieval_metric": "raw",
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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"retrieval_residual_min_source_progress": 0.0,
|
| 36 |
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"retrieval_residual_min_source_advantage": -1000000000.0,
|
| 37 |
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"retrieval_residual_source_progress_bonus_scale": 0.0,
|
| 38 |
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"retrieval_residual_source_score_bonus_scale": 0.0,
|
| 39 |
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|
| 40 |
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"retrieval_residual_composite_l2_penalty_scale": 0.0,
|
| 41 |
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"retrieval_residual_scale": 1.0,
|
| 42 |
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"retrieval_residual_scales": [
|
| 43 |
+
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|
| 44 |
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0.4,
|
| 45 |
+
0.45
|
| 46 |
+
],
|
| 47 |
+
"retrieval_residual_anchor": "expert",
|
| 48 |
+
"retrieval_residual_direction": "candidate_minus_anchor",
|
| 49 |
+
"retrieval_residual_reduce": "compose_mean_by_type",
|
| 50 |
+
"retrieval_residual_challenger_types": [
|
| 51 |
+
"residual_near_miss",
|
| 52 |
+
"residual_no_op",
|
| 53 |
+
"residual_wrong_gripper"
|
| 54 |
+
],
|
| 55 |
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"retrieval_residual_challenger_scales": [],
|
| 56 |
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"retrieval_residual_challenger_margin": 0.01,
|
| 57 |
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"retrieval_residual_challenger_type_margins": {},
|
| 58 |
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"retrieval_residual_challenger_tasks": [],
|
| 59 |
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"retrieval_residual_challenger_type_tasks": {
|
| 60 |
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"residual_no_op": [
|
| 61 |
+
"PickCube-v1",
|
| 62 |
+
"PullCube-v1",
|
| 63 |
+
"StackCube-v1"
|
| 64 |
+
],
|
| 65 |
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"residual_wrong_gripper": [
|
| 66 |
+
"PickCube-v1",
|
| 67 |
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"PullCube-v1",
|
| 68 |
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"StackCube-v1"
|
| 69 |
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]
|
| 70 |
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},
|
| 71 |
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"lattice_exclude_types": [
|
| 72 |
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"residual_random_negative",
|
| 73 |
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"residual_wrong_direction",
|
| 74 |
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"residual_near_miss+residual_no_op"
|
| 75 |
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],
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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},
|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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|
| 94 |
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"candidate_oracle_best_branch_rank_counts": {},
|
| 95 |
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"candidate_oracle_branch_success_rates": [],
|
| 96 |
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"candidate_oracle_branch_progress": [],
|
| 97 |
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"candidate_oracle_branch_score_gains_over_selected": [],
|
| 98 |
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"selected_residual_scale_counts": {
|
| 99 |
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|
| 100 |
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"0.45": 106,
|
| 101 |
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"0.4": 15
|
| 102 |
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},
|
| 103 |
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"policy_rollout_success_rate": 0.33217391304347826,
|
| 104 |
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"policy_rollout_progress": 0.5468972360149729,
|
| 105 |
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"oracle_success_rate": 0.8573913043478261,
|
| 106 |
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"action_mse_to_best": 0.4010052319470307,
|
| 107 |
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"best_policy_val": {
|
| 108 |
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"bc_loss": 0.13721593966086706,
|
| 109 |
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"field_effect_loss": 0.009290305380192068,
|
| 110 |
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"field_potential_loss": 0.2666468388504452,
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| 111 |
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"field_preference_loss": 0.5130573478009965,
|
| 112 |
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"lattice_edges": 3833.3333333333335,
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| 113 |
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"progress_mae": 0.1933159919248687,
|
| 114 |
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"rank_acc": 0.8265031774838766,
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| 115 |
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"rank_loss": 0.5130523675017886,
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| 116 |
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| 117 |
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"success_accuracy": 0.8773836526605818,
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| 118 |
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"total_loss": 1.5581054819954767
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| 119 |
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},
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| 120 |
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"action_mse_to_best": 0.45263203735179874,
|
| 433 |
+
"best_policy_val": {
|
| 434 |
+
"bc_loss": 0.11367896075050037,
|
| 435 |
+
"field_effect_loss": 0.009670218582161598,
|
| 436 |
+
"field_potential_loss": 0.2641640139950646,
|
| 437 |
+
"field_preference_loss": 0.5130490180518892,
|
| 438 |
+
"lattice_edges": 3833.3333333333335,
|
| 439 |
+
"progress_mae": 0.2021729110015763,
|
| 440 |
+
"rank_acc": 0.8333857821093665,
|
| 441 |
+
"rank_loss": 0.5130119257503085,
|
| 442 |
+
"regret_mae": 0.3958987047274907,
|
| 443 |
+
"success_accuracy": 0.8680730561415354,
|
| 444 |
+
"total_loss": 1.4394984311527677
|
| 445 |
+
},
|
| 446 |
+
"per_task": {
|
| 447 |
+
"LiftPegUpright-v1": {
|
| 448 |
+
"action_mse_to_best": 0.35602021238203935,
|
| 449 |
+
"expert_success_rate": 0.8229166666666666,
|
| 450 |
+
"num_groups": 96,
|
| 451 |
+
"oracle_success_rate": 0.9270833333333334,
|
| 452 |
+
"policy_expert_regret": 0.8476849501021206,
|
| 453 |
+
"policy_oracle_regret": 0.9539546399998168,
|
| 454 |
+
"policy_rollout_progress": 0.6463205499264101,
|
| 455 |
+
"policy_rollout_success_rate": 0.3333333333333333,
|
| 456 |
+
"restore_max_error": 1.955777406692505e-07
|
| 457 |
+
},
|
| 458 |
+
"PickCube-v1": {
|
| 459 |
+
"action_mse_to_best": 0.3939900371725812,
|
| 460 |
+
"expert_success_rate": 0.9444444444444444,
|
| 461 |
+
"num_groups": 198,
|
| 462 |
+
"oracle_success_rate": 0.9595959595959596,
|
| 463 |
+
"policy_expert_regret": 1.0321517002232599,
|
| 464 |
+
"policy_oracle_regret": 1.0463813957523065,
|
| 465 |
+
"policy_rollout_progress": 0.603372491943189,
|
| 466 |
+
"policy_rollout_success_rate": 0.29797979797979796,
|
| 467 |
+
"restore_max_error": 2.384185791015625e-07
|
| 468 |
+
},
|
| 469 |
+
"PullCube-v1": {
|
| 470 |
+
"action_mse_to_best": 0.6625336924360858,
|
| 471 |
+
"expert_success_rate": 0.24444444444444444,
|
| 472 |
+
"num_groups": 90,
|
| 473 |
+
"oracle_success_rate": 0.4666666666666667,
|
| 474 |
+
"policy_expert_regret": 0.29977832058341136,
|
| 475 |
+
"policy_oracle_regret": 0.5640585053556909,
|
| 476 |
+
"policy_rollout_progress": 0.30767469643615186,
|
| 477 |
+
"policy_rollout_success_rate": 0.2,
|
| 478 |
+
"restore_max_error": 2.384185791015625e-07
|
| 479 |
+
},
|
| 480 |
+
"PushCube-v1": {
|
| 481 |
+
"action_mse_to_best": 0.397049247997232,
|
| 482 |
+
"expert_success_rate": 0.8514851485148515,
|
| 483 |
+
"num_groups": 101,
|
| 484 |
+
"oracle_success_rate": 1.0,
|
| 485 |
+
"policy_expert_regret": 0.3614020819711213,
|
| 486 |
+
"policy_oracle_regret": 0.41630433337523204,
|
| 487 |
+
"policy_rollout_progress": 0.8015174488029858,
|
| 488 |
+
"policy_rollout_success_rate": 0.7821782178217822,
|
| 489 |
+
"restore_max_error": 2.384185791015625e-07
|
| 490 |
+
},
|
| 491 |
+
"StackCube-v1": {
|
| 492 |
+
"action_mse_to_best": 0.5371716373496586,
|
| 493 |
+
"expert_success_rate": 0.7666666666666667,
|
| 494 |
+
"num_groups": 90,
|
| 495 |
+
"oracle_success_rate": 0.9111111111111111,
|
| 496 |
+
"policy_expert_regret": 1.1891138343347443,
|
| 497 |
+
"policy_oracle_regret": 1.351234385702345,
|
| 498 |
+
"policy_rollout_progress": 0.40160905950599246,
|
| 499 |
+
"policy_rollout_success_rate": 0.13333333333333333,
|
| 500 |
+
"restore_max_error": 2.2351741790771484e-07
|
| 501 |
+
}
|
| 502 |
+
}
|
| 503 |
+
}
|
| 504 |
+
]
|
| 505 |
+
}
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_noopwgcontact_challenger0p01_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: `near_miss_policy_bc5`
|
| 5 |
+
Result file: `policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_noopwgcontact_challenger0p01.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: 34.14% +/- 0.82%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +4.41%
|
| 12 |
+
Mean progress: 56.11%
|
| 13 |
+
Mean action MSE to best: 0.422
|
| 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 | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss,residual_no_op,residual_wrong_gripper with residual_no_op=PickCube-v1,PullCube-v1,StackCube-v1;residual_wrong_gripper=PickCube-v1,PullCube-v1,StackCube-v1@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 33.22% | 54.69% | 85.74% | n/a | n/a | 0.401 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss,residual_no_op,residual_wrong_gripper with residual_no_op=PickCube-v1,PullCube-v1,StackCube-v1;residual_wrong_gripper=PickCube-v1,PullCube-v1,StackCube-v1@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.43% | 56.90% | 86.96% | n/a | n/a | 0.412 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss,residual_no_op,residual_wrong_gripper with residual_no_op=PickCube-v1,PullCube-v1,StackCube-v1;residual_wrong_gripper=PickCube-v1,PullCube-v1,StackCube-v1@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.78% | 56.75% | 87.65% | n/a | n/a | 0.453 |
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_wgpickpullstack_challenger0p01_summary.json
ADDED
|
@@ -0,0 +1,487 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "near_miss_policy_bc5",
|
| 4 |
+
"out_name": "policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_wgpickpullstack_challenger0p01.json",
|
| 5 |
+
"num_completed": 3,
|
| 6 |
+
"baseline_h4_policy_success": 0.2967,
|
| 7 |
+
"baseline_h16_rank_checkpoint_success": 0.29739130434782607,
|
| 8 |
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"StackCube-v1": {
|
| 317 |
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"action_mse_to_best": 0.53449247568682,
|
| 318 |
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"expert_success_rate": 0.6923076923076923,
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| 319 |
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"num_groups": 91,
|
| 320 |
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| 321 |
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| 322 |
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| 323 |
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| 324 |
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"policy_rollout_success_rate": 0.15384615384615385,
|
| 325 |
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"restore_max_error": 1.9371509552001953e-07
|
| 326 |
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}
|
| 327 |
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}
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"seed": 2,
|
| 331 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_wgpickpullstack_challenger0p01.json",
|
| 332 |
+
"num_groups": 575,
|
| 333 |
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"selection_mode": "retrieval_residual",
|
| 334 |
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"num_candidates": 48,
|
| 335 |
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"candidate_sigma": 0.0,
|
| 336 |
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"proposal_types": [],
|
| 337 |
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"proposal_lattice_types": [],
|
| 338 |
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"selection_margin": 0.2,
|
| 339 |
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"prepend_policy_candidate": false,
|
| 340 |
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"field_optim_steps": 0,
|
| 341 |
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"field_optim_step_size": 0.0,
|
| 342 |
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"field_optim_trust_radius": 0.0,
|
| 343 |
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"field_optim_l2_penalty": 0.0,
|
| 344 |
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"retrieval_neighbors": 4,
|
| 345 |
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"retrieval_metric": "raw",
|
| 346 |
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"retrieval_type_min_success": 0.0,
|
| 347 |
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"retrieval_type_success_bonus_scale": 0.0,
|
| 348 |
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"retrieval_residual_consensus_penalty_scale": 0.0,
|
| 349 |
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"retrieval_residual_min_source_progress": 0.0,
|
| 350 |
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"retrieval_residual_min_source_advantage": -1000000000.0,
|
| 351 |
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"retrieval_residual_source_progress_bonus_scale": 0.0,
|
| 352 |
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"retrieval_residual_source_score_bonus_scale": 0.0,
|
| 353 |
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"retrieval_residual_source_advantage_bonus_scale": 0.0,
|
| 354 |
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"retrieval_residual_composite_l2_penalty_scale": 0.0,
|
| 355 |
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"retrieval_residual_scale": 1.0,
|
| 356 |
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"retrieval_residual_scales": [
|
| 357 |
+
0.35,
|
| 358 |
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0.4,
|
| 359 |
+
0.45
|
| 360 |
+
],
|
| 361 |
+
"retrieval_residual_anchor": "expert",
|
| 362 |
+
"retrieval_residual_direction": "candidate_minus_anchor",
|
| 363 |
+
"retrieval_residual_reduce": "compose_mean_by_type",
|
| 364 |
+
"retrieval_residual_challenger_types": [
|
| 365 |
+
"residual_near_miss",
|
| 366 |
+
"residual_wrong_gripper"
|
| 367 |
+
],
|
| 368 |
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"retrieval_residual_challenger_scales": [],
|
| 369 |
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"retrieval_residual_challenger_margin": 0.01,
|
| 370 |
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"retrieval_residual_challenger_type_margins": {},
|
| 371 |
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"retrieval_residual_challenger_tasks": [],
|
| 372 |
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"retrieval_residual_challenger_type_tasks": {
|
| 373 |
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"residual_wrong_gripper": [
|
| 374 |
+
"PickCube-v1",
|
| 375 |
+
"PullCube-v1",
|
| 376 |
+
"StackCube-v1"
|
| 377 |
+
]
|
| 378 |
+
},
|
| 379 |
+
"lattice_exclude_types": [
|
| 380 |
+
"residual_random_negative",
|
| 381 |
+
"residual_wrong_direction",
|
| 382 |
+
"residual_near_miss+residual_no_op"
|
| 383 |
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],
|
| 384 |
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"lattice_exclude_type_tasks": {},
|
| 385 |
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"candidate_type_bonuses": {
|
| 386 |
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"retrieval_residual_no_op": 0.03
|
| 387 |
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},
|
| 388 |
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"candidate_type_bonus_components": false,
|
| 389 |
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"candidate_oracle_rollouts": 0,
|
| 390 |
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"candidate_oracle_unique_tolerance": 1e-06,
|
| 391 |
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"candidate_oracle_success_rate": null,
|
| 392 |
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"candidate_oracle_progress": null,
|
| 393 |
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"candidate_oracle_score": null,
|
| 394 |
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"candidate_oracle_regret": null,
|
| 395 |
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"candidate_oracle_score_gain_over_selected": null,
|
| 396 |
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"candidate_oracle_unique_count": null,
|
| 397 |
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"candidate_oracle_improvement_rate": null,
|
| 398 |
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"candidate_oracle_selected_branch_success_rate": null,
|
| 399 |
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|
| 400 |
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"candidate_oracle_type_counts": {},
|
| 401 |
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"candidate_oracle_best_branch_rank": null,
|
| 402 |
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"candidate_oracle_best_branch_rank_counts": {},
|
| 403 |
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"candidate_oracle_branch_success_rates": [],
|
| 404 |
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"candidate_oracle_branch_progress": [],
|
| 405 |
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"candidate_oracle_branch_score_gains_over_selected": [],
|
| 406 |
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"selected_residual_scale_counts": {
|
| 407 |
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"0.35": 480,
|
| 408 |
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"0.45": 72,
|
| 409 |
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"0.4": 23
|
| 410 |
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},
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| 411 |
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"policy_rollout_success_rate": 0.37565217391304345,
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| 412 |
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"policy_rollout_progress": 0.5898877114057541,
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| 413 |
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"oracle_success_rate": 0.8765217391304347,
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| 414 |
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"action_mse_to_best": 0.45088212622491564,
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| 415 |
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"best_policy_val": {
|
| 416 |
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"bc_loss": 0.11367896075050037,
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| 417 |
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| 419 |
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| 420 |
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"lattice_edges": 3833.3333333333335,
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| 421 |
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| 422 |
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| 423 |
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| 424 |
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| 425 |
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| 426 |
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"total_loss": 1.4394984311527677
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| 427 |
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},
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| 428 |
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"per_task": {
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| 429 |
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"LiftPegUpright-v1": {
|
| 430 |
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| 431 |
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"expert_success_rate": 0.8229166666666666,
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| 432 |
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| 433 |
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| 434 |
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| 435 |
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| 436 |
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| 437 |
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| 438 |
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"restore_max_error": 1.955777406692505e-07
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| 439 |
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},
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| 440 |
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"PickCube-v1": {
|
| 441 |
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| 442 |
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| 443 |
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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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|
| 449 |
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"restore_max_error": 2.384185791015625e-07
|
| 450 |
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},
|
| 451 |
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"PullCube-v1": {
|
| 452 |
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"action_mse_to_best": 0.6421529037257035,
|
| 453 |
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|
| 454 |
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|
| 455 |
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|
| 456 |
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"policy_expert_regret": 0.2687155395539271,
|
| 457 |
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| 458 |
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|
| 459 |
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|
| 460 |
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"restore_max_error": 2.384185791015625e-07
|
| 461 |
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},
|
| 462 |
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"PushCube-v1": {
|
| 463 |
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|
| 464 |
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|
| 465 |
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|
| 466 |
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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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"restore_max_error": 2.384185791015625e-07
|
| 472 |
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},
|
| 473 |
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"StackCube-v1": {
|
| 474 |
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"action_mse_to_best": 0.5371716373496586,
|
| 475 |
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|
| 476 |
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"num_groups": 90,
|
| 477 |
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"oracle_success_rate": 0.9111111111111111,
|
| 478 |
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"policy_expert_regret": 1.1891138343347443,
|
| 479 |
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"policy_oracle_regret": 1.351234385702345,
|
| 480 |
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|
| 481 |
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|
| 482 |
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"restore_max_error": 2.2351741790771484e-07
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
]
|
| 487 |
+
}
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_wgpickpullstack_challenger0p01_summary.md
ADDED
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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: `near_miss_policy_bc5`
|
| 5 |
+
Result file: `policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmglobal_wgpickpullstack_challenger0p01.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: 36.00% +/- 1.49%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +6.26%
|
| 12 |
+
Mean progress: 57.44%
|
| 13 |
+
Mean action MSE to best: 0.421
|
| 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 | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss,residual_wrong_gripper with residual_wrong_gripper=PickCube-v1,PullCube-v1,StackCube-v1@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 35.83% | 56.14% | 85.74% | n/a | n/a | 0.397 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss,residual_wrong_gripper with residual_wrong_gripper=PickCube-v1,PullCube-v1,StackCube-v1@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.61% | 57.18% | 86.96% | n/a | n/a | 0.414 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss,residual_wrong_gripper with residual_wrong_gripper=PickCube-v1,PullCube-v1,StackCube-v1@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 37.57% | 58.99% | 87.65% | n/a | n/a | 0.451 |
|