auto-sync 2026-07-02T13:37:00Z workspace (part 30)

workspace/outputs/hpc/logs/eval_h16_field_14837136_3.out

@@ -0,0 +1,98 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 3
+Seed: 0
+Candidates: 32
+Candidate sigma: 0.20
+Selection seed: 92000
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 32,
+  "candidate_sigma": 0.2,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.30782608695652175,
+  "policy_rollout_progress": 0.5236520005676198,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.9457711988190804,
+  "policy_expert_regret": 0.857266920862206,
+  "action_mse_to_best": 0.3907121669816906,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.21649484536082475,
+      "policy_rollout_progress": 0.5632042542253572,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.12331739544254,
+      "policy_expert_regret": 1.096901917734097,
+      "action_mse_to_best": 0.32411609940979746,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.3173076923076923,
+      "policy_rollout_progress": 0.594855451822066,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.0131241088786807,
+      "policy_expert_regret": 0.9997012414521753,
+      "action_mse_to_best": 0.3089638287559725,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.09090909090909091,
+      "policy_rollout_progress": 0.21818976864638404,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.6057183034637363,
+      "policy_expert_regret": 0.34222419101954143,
+      "action_mse_to_best": 0.620038845709392,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.648936170212766,
+      "policy_rollout_progress": 0.6828119799177698,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.6486242381816215,
+      "policy_expert_regret": 0.5517117910562678,
+      "action_mse_to_best": 0.3883775261012798,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.2222222222222222,
+      "policy_rollout_progress": 0.4217597514089912,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.1769277733383756,
+      "policy_expert_regret": 1.0139289311688355,
+      "action_mse_to_best": 0.4515684789629898,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14837136_4.err

@@ -0,0 +1,5 @@
+2026-06-27 11:15:25,234 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:27,315 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:29,470 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:31,711 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:33,846 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14837136_4.out

@@ -0,0 +1,98 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 4
+Seed: 1
+Candidates: 32
+Candidate sigma: 0.20
+Selection seed: 92001
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_1/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 32,
+  "candidate_sigma": 0.2,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.3130434782608696,
+  "policy_rollout_progress": 0.5412584817804316,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.9514653457889495,
+  "policy_expert_regret": 0.8612220794280343,
+  "action_mse_to_best": 0.4014194884442765,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.21238938053097345,
+      "policy_rollout_progress": 0.6147400798787058,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.105070760951633,
+      "policy_expert_regret": 1.025868605855292,
+      "action_mse_to_best": 0.3384467677122592,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.2608695652173913,
+      "policy_rollout_progress": 0.552188413313833,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.1103883728881,
+      "policy_expert_regret": 1.11036436841317,
+      "action_mse_to_best": 0.32736685282915184,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.17105263157894737,
+      "policy_rollout_progress": 0.28396381365937967,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.5478567443129386,
+      "policy_expert_regret": 0.29840909580142533,
+      "action_mse_to_best": 0.593048064920463,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.7477477477477478,
+      "policy_rollout_progress": 0.7650952924479235,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.4871569598043287,
+      "policy_expert_regret": 0.4019931071513408,
+      "action_mse_to_best": 0.3798570418814281,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.13186813186813187,
+      "policy_rollout_progress": 0.36976376536128286,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.342819583776233,
+      "policy_expert_regret": 1.183210695019135,
+      "action_mse_to_best": 0.4956091824243521,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_1/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14837136_5.err

@@ -0,0 +1,6 @@
+2026-06-27 11:15:28,282 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:30,406 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:32,592 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:34,753 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:36,917 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:15:39,029 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14837136_5.out

@@ -0,0 +1,98 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 5
+Seed: 2
+Candidates: 32
+Candidate sigma: 0.20
+Selection seed: 92002
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_2/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 32,
+  "candidate_sigma": 0.2,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.34608695652173915,
+  "policy_rollout_progress": 0.5594067458427795,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.9073859131392902,
+  "policy_expert_regret": 0.8138708822518264,
+  "action_mse_to_best": 0.425915271744294,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.3333333333333333,
+      "policy_rollout_progress": 0.6394894334177176,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9607857565085093,
+      "policy_expert_regret": 0.8545110411942005,
+      "action_mse_to_best": 0.35779982555444195,
+      "restore_max_error": 3.5762786865234375e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.32323232323232326,
+      "policy_rollout_progress": 0.6229378928082309,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.0157857866054683,
+      "policy_expert_regret": 1.00870233607676,
+      "action_mse_to_best": 0.3381687065755779,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.18888888888888888,
+      "policy_rollout_progress": 0.3017854992972894,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.5860447995105965,
+      "policy_expert_regret": 0.3404962347147779,
+      "action_mse_to_best": 0.6543993772731886,
+      "restore_max_error": 4.0978193283081055e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.7227722772277227,
+      "policy_rollout_progress": 0.7472358027307113,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.5299919200415658,
+      "policy_expert_regret": 0.47577363680494894,
+      "action_mse_to_best": 0.4016442125534067,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.14444444444444443,
+      "policy_rollout_progress": 0.38105199403233,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.356807397802671,
+      "policy_expert_regret": 1.1946870706147619,
+      "action_mse_to_best": 0.49036760750330155,
+      "restore_max_error": 4.76837158203125e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_2/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14837136_6.err

@@ -0,0 +1,5 @@
+2026-06-27 11:18:34,822 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:37,013 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:39,207 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:41,380 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:43,551 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14837136_6.out

@@ -0,0 +1,98 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 6
+Seed: 0
+Candidates: 32
+Candidate sigma: 0.35
+Selection seed: 93000
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 32,
+  "candidate_sigma": 0.35,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.3234782608695652,
+  "policy_rollout_progress": 0.5365680560134893,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.9265719165048303,
+  "policy_expert_regret": 0.8395657396003385,
+  "action_mse_to_best": 0.39553123654797673,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.21649484536082475,
+      "policy_rollout_progress": 0.5676478307271741,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.118873818940723,
+      "policy_expert_regret": 1.0924583412322801,
+      "action_mse_to_best": 0.3222495113672285,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.3269230769230769,
+      "policy_rollout_progress": 0.5977829167028316,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.007329671473529,
+      "policy_expert_regret": 0.9939068040470235,
+      "action_mse_to_best": 0.31544953831829703,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.16883116883116883,
+      "policy_rollout_progress": 0.29021572308752125,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.4835427300238486,
+      "policy_expert_regret": 0.2455574702068305,
+      "action_mse_to_best": 0.6550499460139831,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.648936170212766,
+      "policy_rollout_progress": 0.6824948434182938,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.6685689863689402,
+      "policy_expert_regret": 0.5716793151929024,
+      "action_mse_to_best": 0.3813233734603892,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.23232323232323232,
+      "policy_rollout_progress": 0.43055373731285634,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.1580327773335004,
+      "policy_expert_regret": 0.9838731827759983,
+      "action_mse_to_best": 0.44722738882733715,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14837136_7.err

@@ -0,0 +1,5 @@
+2026-06-27 11:18:29,949 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:31,996 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:34,139 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:36,343 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:38,463 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14837136_7.out

@@ -0,0 +1,98 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 7
+Seed: 1
+Candidates: 32
+Candidate sigma: 0.35
+Selection seed: 93001
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_1/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 32,
+  "candidate_sigma": 0.35,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.31478260869565217,
+  "policy_rollout_progress": 0.5412338370824422,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.951460732821429,
+  "policy_expert_regret": 0.8656454662757291,
+  "action_mse_to_best": 0.4067689944188232,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.22123893805309736,
+      "policy_rollout_progress": 0.6276694327856587,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.0832918505225562,
+      "policy_expert_regret": 1.004089695426215,
+      "action_mse_to_best": 0.33181332383898243,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.266304347826087,
+      "policy_rollout_progress": 0.5523134896521578,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.112533414923667,
+      "policy_expert_regret": 1.1125094104487367,
+      "action_mse_to_best": 0.33753558987265697,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.14473684210526316,
+      "policy_rollout_progress": 0.25026103445704573,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.6021578795881124,
+      "policy_expert_regret": 0.3739064343829165,
+      "action_mse_to_best": 0.6109341694728324,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.7387387387387387,
+      "policy_rollout_progress": 0.7612996167159295,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.4999616445453317,
+      "policy_expert_regret": 0.4335025233459902,
+      "action_mse_to_best": 0.3871889783254078,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.15384615384615385,
+      "policy_rollout_progress": 0.38607727744422116,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.3045280497152727,
+      "policy_expert_regret": 1.1323802955858,
+      "action_mse_to_best": 0.49320598007026284,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_1/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14837136_8.err

@@ -0,0 +1,6 @@
+2026-06-27 11:18:33,517 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:35,633 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:37,828 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:40,022 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:42,226 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:44,379 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14837136_8.out

@@ -0,0 +1,98 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 8
+Seed: 2
+Candidates: 32
+Candidate sigma: 0.35
+Selection seed: 93002
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_2/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 32,
+  "candidate_sigma": 0.35,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.34608695652173915,
+  "policy_rollout_progress": 0.5607519139111908,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.9053549101214475,
+  "policy_expert_regret": 0.8040702116143874,
+  "action_mse_to_best": 0.4337610558687669,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.3229166666666667,
+      "policy_rollout_progress": 0.644037484501799,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9666543720910946,
+      "policy_expert_regret": 0.8603796567767859,
+      "action_mse_to_best": 0.3546609722592014,
+      "restore_max_error": 3.5762786865234375e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.32323232323232326,
+      "policy_rollout_progress": 0.6198147095250662,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.0189089698886329,
+      "policy_expert_regret": 1.0118255193599246,
+      "action_mse_to_best": 0.34091578990296284,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.15555555555555556,
+      "policy_rollout_progress": 0.26429835981517097,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.6527724535790842,
+      "policy_expert_regret": 0.3871518444545826,
+      "action_mse_to_best": 0.7086632399095429,
+      "restore_max_error": 4.0978193283081055e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.7425742574257426,
+      "policy_rollout_progress": 0.7639956024318638,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.49343014014239356,
+      "policy_expert_regret": 0.40123750564485494,
+      "action_mse_to_best": 0.39258715377585723,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.16666666666666666,
+      "policy_rollout_progress": 0.41034479190905887,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.305003473162651,
+      "policy_expert_regret": 1.155931308037705,
+      "action_mse_to_best": 0.49369814737389484,
+      "restore_max_error": 4.76837158203125e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_2/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14837136_9.err

@@ -0,0 +1,5 @@
+2026-06-27 11:18:34,974 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:37,106 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:39,282 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:41,467 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 11:18:43,622 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14837136_9.out

@@ -0,0 +1,98 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 9
+Seed: 0
+Candidates: 64
+Candidate sigma: 0.35
+Selection seed: 94000
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k64_sigma0.35/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 64,
+  "candidate_sigma": 0.35,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.3234782608695652,
+  "policy_rollout_progress": 0.5343159465103726,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.9281872159047587,
+  "policy_expert_regret": 0.8440238188951528,
+  "action_mse_to_best": 0.39918596936227835,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.21649484536082475,
+      "policy_rollout_progress": 0.5676527385859146,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.1188689110819827,
+      "policy_expert_regret": 1.0924534333735396,
+      "action_mse_to_best": 0.32200342137846594,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.3269230769230769,
+      "policy_rollout_progress": 0.5913155791260158,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.0137970090503445,
+      "policy_expert_regret": 1.0003741416238392,
+      "action_mse_to_best": 0.32040938953510845,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.18181818181818182,
+      "policy_rollout_progress": 0.29306630275033213,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.4629497372528128,
+      "policy_expert_regret": 0.2460009390846041,
+      "action_mse_to_best": 0.6566622284325686,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.6382978723404256,
+      "policy_rollout_progress": 0.6713400153403587,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.6903621123192158,
+      "policy_expert_regret": 0.5936297910644653,
+      "action_mse_to_best": 0.39111159397091005,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.23232323232323232,
+      "policy_rollout_progress": 0.43943077160252464,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.1491557430438322,
+      "policy_expert_regret": 0.9749961484863301,
+      "action_mse_to_best": 0.44772692993659563,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k64_sigma0.35/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_0.err

@@ -0,0 +1,5 @@
+2026-06-27 18:20:20,464 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:20:22,483 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:20:24,564 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:20:26,627 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:20:28,693 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_0.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 0
+Seed: 0
+Candidates: 1
+Candidate sigma: 0.00
+Selection seed: 91000
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 1,
+  "candidate_sigma": 0.0,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.25043478260869567,
+  "policy_rollout_progress": 0.5385008239519337,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 1.0076285014171964,
+  "policy_expert_regret": 0.9320058296588452,
+  "action_mse_to_best": 0.38061382845044134,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.28865979381443296,
+      "policy_rollout_progress": 0.6600650664150101,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 0.9936873315228629,
+      "policy_expert_regret": 0.9673091362124866,
+      "action_mse_to_best": 0.31332231308189556,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.04807692307692308,
+      "policy_rollout_progress": 0.4716863351462122,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.4055239947853038,
+      "policy_expert_regret": 1.3921011273587982,
+      "action_mse_to_best": 0.3059184052981436,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.23376623376623376,
+      "policy_rollout_progress": 0.3639409321469146,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.38729304597749337,
+      "policy_expert_regret": 0.2339665520597588,
+      "action_mse_to_best": 0.6041168522138101,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7978723404255319,
+      "policy_rollout_progress": 0.8184041946809343,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.3837234648935338,
+      "policy_expert_regret": 0.3255824437166782,
+      "action_mse_to_best": 0.36802108233120845,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.13131313131313133,
+      "policy_rollout_progress": 0.42977230852902537,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.2601833939552307,
+      "policy_expert_regret": 1.0494662336628846,
+      "action_mse_to_best": 0.44160282149948554,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_1.err

@@ -0,0 +1,42 @@
+Traceback (most recent call last):
+  File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 142, in <module>
+    raise SystemExit(main())
+                     ^^^^^^
+  File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 116, in main
+    result = evaluate_maniskill_policy_rollout(
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 139, in evaluate_maniskill_policy_rollout
+    checkpoint = torch.load(
+                 ^^^^^^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 1525, in load
+    return _load(
+           ^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 2114, in _load
+    result = unpickler.load()
+             ^^^^^^^^^^^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 2078, in persistent_load
+    typed_storage = load_tensor(
+                    ^^^^^^^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 2044, in load_tensor
+    wrap_storage = restore_location(storage, location)
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 1854, in restore_location
+    return default_restore_location(storage, map_location)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 698, in default_restore_location
+    result = fn(storage, location)
+             ^^^^^^^^^^^^^^^^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 637, in _deserialize
+    return obj.to(device=device)
+           ^^^^^^^^^^^^^^^^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/storage.py", line 287, in to
+    return _to(self, device, non_blocking)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/opt/conda/lib/python3.11/site-packages/torch/_utils.py", line 101, in _to
+    untyped_storage = torch.UntypedStorage(self.size(), device=device)
+                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+RuntimeError: CUDA error: CUDA-capable device(s) is/are busy or unavailable
+CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect.
+For debugging consider passing CUDA_LAUNCH_BLOCKING=1
+Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions.
+

workspace/outputs/hpc/logs/eval_h16_field_14842528_1.out

@@ -0,0 +1,16 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 1
+Seed: 1
+Candidates: 1
+Candidate sigma: 0.00
+Selection seed: 91001
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_1/online_rollout.json
+==================================================

workspace/outputs/hpc/logs/eval_h16_field_14842528_10.err

@@ -0,0 +1 @@
+FATAL:   container creation failed: mount hook function failure: mount /proc/self/fd/8->/cvmfs/soft.computecanada.ca/easybuild/software/2023/x86-64-v3/Core/apptainer/1.4.5/var/apptainer/mnt/session/rootfs error: while mounting image /proc/self/fd/8: squashfuse_ll failed to mount /cvmfs/soft.computecanada.ca/easybuild/software/2023/x86-64-v3/Core/apptainer/1.4.5/var/apptainer/mnt/session/rootfs in 10s

workspace/outputs/hpc/logs/eval_h16_field_14842528_10.out

@@ -0,0 +1,16 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 10
+Seed: 1
+Candidates: 32
+Candidate sigma: 0.50
+Selection seed: 94001
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k32_sigma0.50/seed_1/online_rollout.json
+==================================================

workspace/outputs/hpc/logs/eval_h16_field_14842528_11.err

@@ -0,0 +1 @@
+FATAL:   container creation failed: mount hook function failure: mount /proc/self/fd/7->/cvmfs/soft.computecanada.ca/easybuild/software/2023/x86-64-v3/Core/apptainer/1.4.5/var/apptainer/mnt/session/rootfs error: while mounting image /proc/self/fd/7: squashfuse_ll failed to mount /cvmfs/soft.computecanada.ca/easybuild/software/2023/x86-64-v3/Core/apptainer/1.4.5/var/apptainer/mnt/session/rootfs in 10s

workspace/outputs/hpc/logs/eval_h16_field_14842528_11.out

@@ -0,0 +1,16 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 11
+Seed: 2
+Candidates: 32
+Candidate sigma: 0.50
+Selection seed: 94002
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k32_sigma0.50/seed_2/online_rollout.json
+==================================================

workspace/outputs/hpc/logs/eval_h16_field_14842528_2.err

@@ -0,0 +1,6 @@
+2026-06-27 18:21:39,932 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:42,005 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:44,114 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:46,267 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:48,385 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:50,501 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_2.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 2
+Seed: 2
+Candidates: 1
+Candidate sigma: 0.00
+Selection seed: 91002
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_2/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 1,
+  "candidate_sigma": 0.0,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.2417391304347826,
+  "policy_rollout_progress": 0.5269845647721187,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.0397046831574128,
+  "policy_expert_regret": 0.935535910035605,
+  "action_mse_to_best": 0.41485133323980417,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.1875,
+      "policy_rollout_progress": 0.6354146927284697,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 1.1107273153029382,
+      "policy_expert_regret": 0.9770944616757333,
+      "action_mse_to_best": 0.3479427481070161,
+      "restore_max_error": 3.5762786865234375e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.04040404040404041,
+      "policy_rollout_progress": 0.4944484231974741,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.4057243779828452,
+      "policy_expert_regret": 1.384397162143329,
+      "action_mse_to_best": 0.34223038080440027,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.17777777777777778,
+      "policy_rollout_progress": 0.311150934588578,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.5933954045590427,
+      "policy_expert_regret": 0.3070303386905127,
+      "action_mse_to_best": 0.6251726786295573,
+      "restore_max_error": 4.0978193283081055e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.8316831683168316,
+      "policy_rollout_progress": 0.8490468691481222,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.31926996253504614,
+      "policy_expert_regret": 0.28293753555505585,
+      "action_mse_to_best": 0.3742850503266448,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.14444444444444443,
+      "policy_rollout_progress": 0.33731342835558786,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.41350101199415,
+      "policy_expert_regret": 1.2645780030224059,
+      "action_mse_to_best": 0.4811896248410145,
+      "restore_max_error": 4.76837158203125e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_2/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_3.err

@@ -0,0 +1,5 @@
+2026-06-27 18:21:46,657 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:48,708 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:50,842 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:52,985 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:55,109 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_3.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 3
+Seed: 0
+Candidates: 8
+Candidate sigma: 0.20
+Selection seed: 92000
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 8,
+  "candidate_sigma": 0.2,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.2417391304347826,
+  "policy_rollout_progress": 0.5251557968394912,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 1.0315663458309743,
+  "policy_expert_regret": 0.9522585669969735,
+  "action_mse_to_best": 0.3893296971884759,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.25773195876288657,
+      "policy_rollout_progress": 0.6562606996482181,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.0284317341661944,
+      "policy_expert_regret": 1.002053538855818,
+      "action_mse_to_best": 0.3167373553859358,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.04807692307692308,
+      "policy_rollout_progress": 0.4694505332198997,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.4077597967116162,
+      "policy_expert_regret": 1.3943369292851107,
+      "action_mse_to_best": 0.3084647181049849,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.2077922077922078,
+      "policy_rollout_progress": 0.3380576056706441,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.4383279656047945,
+      "policy_expert_regret": 0.23649730296297508,
+      "action_mse_to_best": 0.6139777099544351,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7446808510638298,
+      "policy_rollout_progress": 0.7718604216550259,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.4834587272811443,
+      "policy_expert_regret": 0.4052272028428443,
+      "action_mse_to_best": 0.39689942821860313,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.18181818181818182,
+      "policy_rollout_progress": 0.4250128195442335,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.2260844364310757,
+      "policy_expert_regret": 1.0507651723996558,
+      "action_mse_to_best": 0.44844001137435135,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_4.err

@@ -0,0 +1,5 @@
+2026-06-27 18:21:44,232 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:46,268 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:48,342 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:50,460 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:52,519 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_4.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 4
+Seed: 1
+Candidates: 8
+Candidate sigma: 0.20
+Selection seed: 92001
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_1/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 8,
+  "candidate_sigma": 0.2,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.25217391304347825,
+  "policy_rollout_progress": 0.52408728260142,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.0232285326711186,
+  "policy_expert_regret": 0.9344754215613331,
+  "action_mse_to_best": 0.3996870838591586,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.21238938053097345,
+      "policy_rollout_progress": 0.6609668837184399,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.0475532074945162,
+      "policy_expert_regret": 0.9565544418529072,
+      "action_mse_to_best": 0.3307521107021423,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.010869565217391304,
+      "policy_rollout_progress": 0.43558798558534245,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.4769888006165908,
+      "policy_expert_regret": 1.4694518956492413,
+      "action_mse_to_best": 0.32586156714545644,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.13157894736842105,
+      "policy_rollout_progress": 0.26700859815862615,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.6036569659941291,
+      "policy_expert_regret": 0.3357601676528391,
+      "action_mse_to_best": 0.5786957227085766,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8198198198198198,
+      "policy_rollout_progress": 0.835585828702729,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.34459435147745116,
+      "policy_expert_regret": 0.29417850627555503,
+      "action_mse_to_best": 0.3886206160123284,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.1978021978021978,
+      "policy_rollout_progress": 0.3678028554051787,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.2537258472088928,
+      "policy_expert_regret": 1.106395381656322,
+      "action_mse_to_best": 0.4985581654031853,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_1/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_5.err

@@ -0,0 +1,6 @@
+2026-06-27 18:21:39,758 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:41,791 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:43,875 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:46,036 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:48,140 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:50,254 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_5.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 5
+Seed: 2
+Candidates: 8
+Candidate sigma: 0.20
+Selection seed: 92002
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_2/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 8,
+  "candidate_sigma": 0.2,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.22956521739130434,
+  "policy_rollout_progress": 0.5218091125312545,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.0523480505808054,
+  "policy_expert_regret": 0.9540261849813649,
+  "action_mse_to_best": 0.42410068074160295,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.1875,
+      "policy_rollout_progress": 0.6431976957246661,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 1.0896811264877517,
+      "policy_expert_regret": 0.969089585977296,
+      "action_mse_to_best": 0.3535835361981299,
+      "restore_max_error": 3.5762786865234375e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.04040404040404041,
+      "policy_rollout_progress": 0.4947132789071254,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.405459522273194,
+      "policy_expert_regret": 1.384132306433678,
+      "action_mse_to_best": 0.344063895782738,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.2111111111111111,
+      "policy_rollout_progress": 0.3336249701833973,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.5349132894486602,
+      "policy_expert_regret": 0.2917847439698461,
+      "action_mse_to_best": 0.6478720838824908,
+      "restore_max_error": 4.0978193283081055e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.7821782178217822,
+      "policy_rollout_progress": 0.8072664808518816,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.4105553013263362,
+      "policy_expert_regret": 0.3565023746525887,
+      "action_mse_to_best": 0.386228519279768,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.08888888888888889,
+      "policy_rollout_progress": 0.31977633121940824,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.4733497116300796,
+      "policy_expert_regret": 1.3245210293266507,
+      "action_mse_to_best": 0.4941294732193152,
+      "restore_max_error": 4.76837158203125e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_2/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_6.err

@@ -0,0 +1,5 @@
+2026-06-27 18:21:46,688 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:48,731 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:50,853 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:53,028 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:21:55,140 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_6.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 6
+Seed: 0
+Candidates: 16
+Candidate sigma: 0.35
+Selection seed: 93000
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 16,
+  "candidate_sigma": 0.35,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.24347826086956523,
+  "policy_rollout_progress": 0.5289620748977515,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 1.0241229962357794,
+  "policy_expert_regret": 0.946904164409616,
+  "action_mse_to_best": 0.390246681454389,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.25773195876288657,
+      "policy_rollout_progress": 0.6514236106700504,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.033257112982347,
+      "policy_expert_regret": 1.0068789176719706,
+      "action_mse_to_best": 0.31632087363371836,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.04807692307692308,
+      "policy_rollout_progress": 0.47146958250624055,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.4057407474252754,
+      "policy_expert_regret": 1.3923178799987699,
+      "action_mse_to_best": 0.3099510838779119,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.23376623376623376,
+      "policy_rollout_progress": 0.3531065471752575,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.3980089887791188,
+      "policy_expert_regret": 0.25833353278876253,
+      "action_mse_to_best": 0.6181663733411145,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7659574468085106,
+      "policy_rollout_progress": 0.7879649159756112,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.4460776372158781,
+      "policy_expert_regret": 0.3669963699389011,
+      "action_mse_to_best": 0.40011150191756006,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.15151515151515152,
+      "policy_rollout_progress": 0.42062144884557434,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.249219367449934,
+      "policy_expert_regret": 1.0384967644708325,
+      "action_mse_to_best": 0.44474343151192774,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_7.err

@@ -0,0 +1,5 @@
+2026-06-27 18:25:33,111 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:35,135 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:37,199 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:39,351 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:41,402 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_7.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 7
+Seed: 1
+Candidates: 16
+Candidate sigma: 0.35
+Selection seed: 93001
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_1/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 16,
+  "candidate_sigma": 0.35,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.24347826086956523,
+  "policy_rollout_progress": 0.5165389964462298,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.039217270862959,
+  "policy_expert_regret": 0.9487168673498799,
+  "action_mse_to_best": 0.4029614827927688,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.23893805309734514,
+      "policy_rollout_progress": 0.6748347817796522,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.0071366368669323,
+      "policy_expert_regret": 0.925960123538971,
+      "action_mse_to_best": 0.3265482701146893,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.010869565217391304,
+      "policy_rollout_progress": 0.43528266355101747,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.4772941226509158,
+      "policy_expert_regret": 1.4697572176835663,
+      "action_mse_to_best": 0.3257596911660031,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.15789473684210525,
+      "policy_rollout_progress": 0.28927135144017246,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.5531476327267132,
+      "policy_expert_regret": 0.28736334068602637,
+      "action_mse_to_best": 0.5878818454711061,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.7837837837837838,
+      "policy_rollout_progress": 0.8020827940723918,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.4141334221438245,
+      "policy_expert_regret": 0.36372163905216764,
+      "action_mse_to_best": 0.40456463876474014,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.13186813186813187,
+      "policy_rollout_progress": 0.3257776886879743,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.3616850798601632,
+      "policy_expert_regret": 1.1893479218194773,
+      "action_mse_to_best": 0.4975540631829382,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_1/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_8.err

@@ -0,0 +1,6 @@
+2026-06-27 18:25:31,881 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:33,893 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:36,005 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:38,077 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:40,187 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:42,261 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_8.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 8
+Seed: 2
+Candidates: 16
+Candidate sigma: 0.35
+Selection seed: 93002
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_2/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 16,
+  "candidate_sigma": 0.35,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.24,
+  "policy_rollout_progress": 0.5256201127618956,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.0462085215883006,
+  "policy_expert_regret": 0.9462031736619689,
+  "action_mse_to_best": 0.42602388454520185,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.19791666666666666,
+      "policy_rollout_progress": 0.6382713741622865,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 1.0841905994651218,
+      "policy_expert_regret": 0.9503137821642061,
+      "action_mse_to_best": 0.3519886921470364,
+      "restore_max_error": 3.5762786865234375e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.04040404040404041,
+      "policy_rollout_progress": 0.4946433123032976,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.4055294888770218,
+      "policy_expert_regret": 1.3842022730375056,
+      "action_mse_to_best": 0.34274348870597104,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.2222222222222222,
+      "policy_rollout_progress": 0.3432616694105996,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.5527156790097555,
+      "policy_expert_regret": 0.3146628489717841,
+      "action_mse_to_best": 0.6682874644796054,
+      "restore_max_error": 4.0978193283081055e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.801980198019802,
+      "policy_rollout_progress": 0.8211318818059298,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.3768879201742682,
+      "policy_expert_regret": 0.32143961734110765,
+      "action_mse_to_best": 0.3917583738370697,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.1111111111111111,
+      "policy_rollout_progress": 0.32433629747894077,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.4598074724276862,
+      "policy_expert_regret": 1.3108843771947756,
+      "action_mse_to_best": 0.484401564920942,
+      "restore_max_error": 4.76837158203125e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_2/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842528_9.err

@@ -0,0 +1,5 @@
+2026-06-27 18:25:34,561 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:36,608 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:38,756 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:40,858 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:25:42,967 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842528_9.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 9
+Seed: 0
+Candidates: 32
+Candidate sigma: 0.50
+Selection seed: 94000
+Selection mode: field_optim
+Field optim steps: 4
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.02
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k32_sigma0.50/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field_optim",
+  "num_candidates": 32,
+  "candidate_sigma": 0.5,
+  "field_optim_steps": 4,
+  "field_optim_step_size": 0.05,
+  "field_optim_trust_radius": 0.5,
+  "field_optim_l2_penalty": 0.02,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.2539130434782609,
+  "policy_rollout_progress": 0.5365319993136369,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 1.0063152354485962,
+  "policy_expert_regret": 0.9391702246196244,
+  "action_mse_to_best": 0.3908262099843958,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.29896907216494845,
+      "policy_rollout_progress": 0.6630521756164807,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 0.9803915624458766,
+      "policy_expert_regret": 0.9540133671355002,
+      "action_mse_to_best": 0.3133223102687253,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.04807692307692308,
+      "policy_rollout_progress": 0.4696219289415659,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.40758840098995,
+      "policy_expert_regret": 1.3941655335634446,
+      "action_mse_to_best": 0.3123190854496967,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.2597402597402597,
+      "policy_rollout_progress": 0.3750774884330375,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.35152300004544973,
+      "policy_expert_regret": 0.2396799704519572,
+      "action_mse_to_best": 0.6222828338285545,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.776595744680851,
+      "policy_rollout_progress": 0.7975971521215236,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.4258071031976253,
+      "policy_expert_regret": 0.38544646381063663,
+      "action_mse_to_best": 0.4014465888129904,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.1414141414141414,
+      "policy_rollout_progress": 0.43084220648413957,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.249108613289968,
+      "policy_expert_regret": 1.0384830933327627,
+      "action_mse_to_best": 0.44160282139600526,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_optim_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k32_sigma0.50/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842577_0.err

@@ -0,0 +1,5 @@
+2026-06-27 18:34:20,186 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:34:22,283 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:34:24,457 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:34:26,661 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:34:28,766 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842577_0.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 0
+Seed: 0
+Candidates: 8
+Candidate sigma: 0.10
+Selection seed: 91000
+Selection mode: field
+Field optim steps: 0
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.0
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 8,
+  "candidate_sigma": 0.1,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.24521739130434783,
+  "policy_rollout_progress": 0.4916666813407336,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 1.0520232715407063,
+  "policy_expert_regret": 0.9628436689514099,
+  "action_mse_to_best": 0.4524545120091542,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.14432989690721648,
+      "policy_rollout_progress": 0.5431373600185532,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.228676609925388,
+      "policy_expert_regret": 1.1890621543237843,
+      "action_mse_to_best": 0.36152367228546095,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.1875,
+      "policy_rollout_progress": 0.5209172252815244,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.2168700277269147,
+      "policy_expert_regret": 1.2102034536728752,
+      "action_mse_to_best": 0.3476500255593027,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.16883116883116883,
+      "policy_rollout_progress": 0.3158751792764267,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.47666968106800184,
+      "policy_expert_regret": 0.23013423346043504,
+      "action_mse_to_best": 0.7061071962892235,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.6808510638297872,
+      "policy_rollout_progress": 0.701535238864574,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.6176136973056388,
+      "policy_expert_regret": 0.5378522131037204,
+      "action_mse_to_best": 0.45377475356167934,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.1111111111111111,
+      "policy_rollout_progress": 0.31723771447485144,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.3925609213836265,
+      "policy_expert_regret": 1.1949022051059839,
+      "action_mse_to_best": 0.5632046659411204,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842577_1.err

@@ -0,0 +1,5 @@
+2026-06-27 18:37:46,202 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:37:48,335 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:37:50,463 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:37:52,612 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:37:54,815 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842577_1.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 1
+Seed: 1
+Candidates: 8
+Candidate sigma: 0.10
+Selection seed: 91001
+Selection mode: field
+Field optim steps: 0
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.0
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_1/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 8,
+  "candidate_sigma": 0.1,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.26260869565217393,
+  "policy_rollout_progress": 0.5003497520121544,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.0411602802218303,
+  "policy_expert_regret": 0.9484697661808004,
+  "action_mse_to_best": 0.46732707200005,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.13274336283185842,
+      "policy_rollout_progress": 0.5155556234901986,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.2726808705952315,
+      "policy_expert_regret": 1.1937605795343365,
+      "action_mse_to_best": 0.3871589671836886,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.1956521739130435,
+      "policy_rollout_progress": 0.5304642929695547,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.2127604486785182,
+      "policy_expert_regret": 1.2052235437111687,
+      "action_mse_to_best": 0.3765532473385658,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.10526315789473684,
+      "policy_rollout_progress": 0.2620575173856004,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.6173880723010945,
+      "policy_expert_regret": 0.387804974581262,
+      "action_mse_to_best": 0.6689964332127649,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.7207207207207207,
+      "policy_rollout_progress": 0.7494887763315493,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.52979050294773,
+      "policy_expert_regret": 0.44538252471803547,
+      "action_mse_to_best": 0.42434008553758396,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.13186813186813187,
+      "policy_rollout_progress": 0.3156952368361609,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.3843742952896998,
+      "policy_expert_regret": 1.2066307660642561,
+      "action_mse_to_best": 0.6344266722981746,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_1/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842577_10.err

@@ -0,0 +1,5 @@
+2026-06-27 18:33:06,103 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:08,279 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:10,435 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:12,725 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:14,970 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842577_10.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 10
+Seed: 1
+Candidates: 64
+Candidate sigma: 0.50
+Selection seed: 94001
+Selection mode: field
+Field optim steps: 0
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.0
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_1/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 64,
+  "candidate_sigma": 0.5,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.26956521739130435,
+  "policy_rollout_progress": 0.5022271202715195,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.033790238238871,
+  "policy_expert_regret": 0.9530755318296344,
+  "action_mse_to_best": 0.4864421434927246,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.12389380530973451,
+      "policy_rollout_progress": 0.518719785640725,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.289627820385241,
+      "policy_expert_regret": 1.2107075293243459,
+      "action_mse_to_best": 0.3862276160595032,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.1956521739130435,
+      "policy_rollout_progress": 0.5238371952133172,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.2193875464347557,
+      "policy_expert_regret": 1.211850641467406,
+      "action_mse_to_best": 0.39618182427290344,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.15789473684210525,
+      "policy_rollout_progress": 0.29850233055798236,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.522642692808356,
+      "policy_expert_regret": 0.35917731865897384,
+      "action_mse_to_best": 0.747883105589273,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.7117117117117117,
+      "policy_rollout_progress": 0.7389255927221196,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.5493626955661688,
+      "policy_expert_regret": 0.4817217659574371,
+      "action_mse_to_best": 0.43588705656227766,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.15384615384615385,
+      "policy_rollout_progress": 0.31947578620779643,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.3586157239400423,
+      "policy_expert_regret": 1.1808721947145986,
+      "action_mse_to_best": 0.6367085376283624,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_1/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842577_11.err

@@ -0,0 +1,6 @@
+2026-06-27 18:33:03,748 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:06,220 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:08,404 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:10,550 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:12,755 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:33:14,960 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842577_11.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 11
+Seed: 2
+Candidates: 64
+Candidate sigma: 0.50
+Selection seed: 94002
+Selection mode: field
+Field optim steps: 0
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.0
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_2/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 64,
+  "candidate_sigma": 0.5,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.28347826086956524,
+  "policy_rollout_progress": 0.5176484204051287,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.0018333465703155,
+  "policy_expert_regret": 0.9128569087062193,
+  "action_mse_to_best": 0.5004424169724402,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.21875,
+      "policy_rollout_progress": 0.6228157593868673,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 1.065440983666728,
+      "policy_expert_regret": 0.9720403482206166,
+      "action_mse_to_best": 0.4013568146813971,
+      "restore_max_error": 3.5762786865234375e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.22727272727272727,
+      "policy_rollout_progress": 0.5412212638372574,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.17933312364186,
+      "policy_expert_regret": 1.1722496731131515,
+      "action_mse_to_best": 0.3729282287749076,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.12222222222222222,
+      "policy_rollout_progress": 0.2539229686682423,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.6969465435586042,
+      "policy_expert_regret": 0.3964810552903347,
+      "action_mse_to_best": 0.8188039211142394,
+      "restore_max_error": 4.0978193283081055e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.7821782178217822,
+      "policy_rollout_progress": 0.8004673908252528,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.4173543913529651,
+      "policy_expert_regret": 0.37918733148881706,
+      "action_mse_to_best": 0.4307129751927782,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.07777777777777778,
+      "policy_rollout_progress": 0.2999493882060051,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.5042877657545937,
+      "policy_expert_regret": 1.3943355371554693,
+      "action_mse_to_best": 0.6465553650839462,
+      "restore_max_error": 4.76837158203125e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_2/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842577_2.err

@@ -0,0 +1,6 @@
+2026-06-27 18:29:57,977 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:00,169 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:02,491 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:04,723 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:07,041 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:09,244 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842577_2.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 2
+Seed: 2
+Candidates: 8
+Candidate sigma: 0.10
+Selection seed: 91002
+Selection mode: field
+Field optim steps: 0
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.0
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_2/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 8,
+  "candidate_sigma": 0.1,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.2817391304347826,
+  "policy_rollout_progress": 0.5176694101440776,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 1.0061579653793444,
+  "policy_expert_regret": 0.92652901611034,
+  "action_mse_to_best": 0.4807908735229917,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.20833333333333334,
+      "policy_rollout_progress": 0.624040465336293,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 1.0878960588015616,
+      "policy_expert_regret": 1.0079390796211858,
+      "action_mse_to_best": 0.39125924691325054,
+      "restore_max_error": 3.5762786865234375e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.22727272727272727,
+      "policy_rollout_progress": 0.5430827173357359,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.1774716701433816,
+      "policy_expert_regret": 1.170388219614673,
+      "action_mse_to_best": 0.36567344943607094,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.15555555555555556,
+      "policy_rollout_progress": 0.28386651941198376,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.6361748364926219,
+      "policy_expert_regret": 0.38108951423176524,
+      "action_mse_to_best": 0.7307745517128044,
+      "restore_max_error": 4.0978193283081055e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.7524752475247525,
+      "policy_rollout_progress": 0.7767425154400344,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.47078223703521316,
+      "policy_expert_regret": 0.43261517717106507,
+      "action_mse_to_best": 0.4313800072315896,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.07777777777777778,
+      "policy_rollout_progress": 0.2913629702395863,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.5128741837210125,
+      "policy_expert_regret": 1.402921955121888,
+      "action_mse_to_best": 0.6350159022129245,
+      "restore_max_error": 4.76837158203125e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_2/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842577_3.err

@@ -0,0 +1,5 @@
+2026-06-27 18:29:58,354 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:00,505 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:02,717 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:04,973 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:30:07,144 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/eval_h16_field_14842577_3.out

@@ -0,0 +1,108 @@
+==================================================
+Online Rollout Evaluation - h=16 Field-Guided
+Array task: 3
+Seed: 0
+Candidates: 16
+Candidate sigma: 0.20
+Selection seed: 92000
+Selection mode: field
+Field optim steps: 0
+Field optim step size: 0.05
+Field optim trust radius: 0.5
+Field optim L2 penalty: 0.0
+Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt
+Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection
+Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k16_sigma0.20/seed_0/online_rollout.json
+==================================================
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 16,
+  "selection_mode": "field",
+  "num_candidates": 16,
+  "candidate_sigma": 0.2,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 0,
+  "lattice_exclude_types": [],
+  "policy_rollout_success_rate": 0.23304347826086957,
+  "policy_rollout_progress": 0.481306260572139,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 1.0684228070851658,
+  "policy_expert_regret": 0.9733695856443323,
+  "action_mse_to_best": 0.45690098340744556,
+  "restore_max_error": 4.76837158203125e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.14432989690721648,
+      "policy_rollout_progress": 0.5436697447115613,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.22814422523238,
+      "policy_expert_regret": 1.1752674995931154,
+      "action_mse_to_best": 0.36156272988036736,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.1875,
+      "policy_rollout_progress": 0.5193353609664393,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 1.2184518920419998,
+      "policy_expert_regret": 1.2117853179879603,
+      "action_mse_to_best": 0.35019572166940915,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.12987012987012986,
+      "policy_rollout_progress": 0.28333891163785735,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.5023551824224459,
+      "policy_expert_regret": 0.25227385023971655,
+      "action_mse_to_best": 0.7272258265935755,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.6382978723404256,
+      "policy_rollout_progress": 0.6673411592207057,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.6943609684388689,
+      "policy_expert_regret": 0.595260574304043,
+      "action_mse_to_best": 0.45739054711575206,
+      "restore_max_error": 4.76837158203125e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.1111111111111111,
+      "policy_rollout_progress": 0.3176385287684624,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.3921601070900156,
+      "policy_expert_regret": 1.194501390812373,
+      "action_mse_to_best": 0.5637845502733582,
+      "restore_max_error": 3.948807716369629e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "field_selected": 575
+  }
+}
+
+Field-guided rollout complete
+Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k16_sigma0.20/seed_0/online_rollout.json

workspace/outputs/hpc/logs/eval_h16_field_14842577_4.err

@@ -0,0 +1,5 @@
+2026-06-27 18:29:39,534 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:29:41,707 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:29:43,852 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:29:46,052 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-06-27 18:29:48,221 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.