Auto-sync: 2026-06-28 07:49:25 (part 2)

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_policy_anchor_scale0p35_safe_noexpert_summary.json

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+{
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+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_policy_anchor_scale0p35_safe_noexpert_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_policy_anchor_scale0p35_safe_noexpert.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 33.74% +/- 0.46%
+Gain vs h=16 rank checkpoint: +4.00%
+Mean progress: 55.48%
+Mean action MSE to best: 0.411
+
+| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 16 | 1 | raw | policy | 0.00 | 0.35 | 0.00 | 0 | 0.00 | 33.22% | 54.62% | 85.74% | 0.391 |
+| 1 | retrieval_residual | 16 | 1 | raw | policy | 0.00 | 0.35 | 0.00 | 0 | 0.00 | 33.91% | 55.85% | 86.96% | 0.402 |
+| 2 | retrieval_residual | 16 | 1 | raw | policy | 0.00 | 0.35 | 0.00 | 0 | 0.00 | 34.09% | 55.97% | 87.65% | 0.439 |

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_policy_anchor_scale0p50_safe_noexpert_summary.json

@@ -0,0 +1,289 @@
+{
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+  "objective": "near_miss_policy_bc5",
+  "out_name": "policy_rollout_retrieval_residual_policy_anchor_scale0p50_safe_noexpert.json",
+  "num_completed": 3,
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+  ]
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_policy_anchor_scale0p50_safe_noexpert_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_policy_anchor_scale0p50_safe_noexpert.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 33.68% +/- 0.66%
+Gain vs h=16 rank checkpoint: +3.94%
+Mean progress: 55.51%
+Mean action MSE to best: 0.421
+
+| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 16 | 1 | raw | policy | 0.00 | 0.50 | 0.00 | 0 | 0.00 | 33.22% | 54.37% | 85.74% | 0.400 |
+| 1 | retrieval_residual | 16 | 1 | raw | policy | 0.00 | 0.50 | 0.00 | 0 | 0.00 | 33.39% | 55.64% | 86.96% | 0.414 |
+| 2 | retrieval_residual | 16 | 1 | raw | policy | 0.00 | 0.50 | 0.00 | 0 | 0.00 | 34.43% | 56.51% | 87.65% | 0.450 |

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_type_success010_summary.json

@@ -0,0 +1,289 @@
+{
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+  "objective": "near_miss_policy_bc5",
+  "out_name": "policy_rollout_retrieval_residual_scale0p35_type_success010.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
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+  "gain_vs_h4": 0.036633333333333296,
+  "gain_vs_h16_rank_checkpoint": 0.035942028985507246,
+  "rows": [
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+          "restore_max_error": 3.5762786865234375e-07
+        },
+        "PickCube-v1": {
+          "action_mse_to_best": 0.3418835209061702,
+          "expert_success_rate": 0.9444444444444444,
+          "num_groups": 198,
+          "oracle_success_rate": 0.9595959595959596,
+          "policy_expert_regret": 1.054949007693189,
+          "policy_oracle_regret": 1.0620324582218974,
+          "policy_rollout_progress": 0.5998374074038983,
+          "policy_rollout_success_rate": 0.29292929292929293,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PullCube-v1": {
+          "action_mse_to_best": 0.636862284772926,
+          "expert_success_rate": 0.24444444444444444,
+          "num_groups": 90,
+          "oracle_success_rate": 0.4666666666666667,
+          "policy_expert_regret": 0.29507516456974875,
+          "policy_oracle_regret": 0.5250848706397745,
+          "policy_rollout_progress": 0.31659532967540954,
+          "policy_rollout_success_rate": 0.2111111111111111,
+          "restore_max_error": 4.0978193283081055e-07
+        },
+        "PushCube-v1": {
+          "action_mse_to_best": 0.39332203817839667,
+          "expert_success_rate": 0.8514851485148515,
+          "num_groups": 101,
+          "oracle_success_rate": 1.0,
+          "policy_expert_regret": 0.3990432453332561,
+          "policy_oracle_regret": 0.472679869373246,
+          "policy_rollout_progress": 0.7748448831020015,
+          "policy_rollout_success_rate": 0.7524752475247525,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.4837478988907403,
+          "expert_success_rate": 0.7666666666666667,
+          "num_groups": 90,
+          "oracle_success_rate": 0.9111111111111111,
+          "policy_expert_regret": 1.1536250283320746,
+          "policy_oracle_regret": 1.2897137719723912,
+          "policy_rollout_progress": 0.4145233819882075,
+          "policy_rollout_success_rate": 0.17777777777777778,
+          "restore_max_error": 4.76837158203125e-07
+        }
+      }
+    }
+  ]
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_type_success010_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_scale0p35_type_success010.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 33.33% +/- 1.28%
+Gain vs h=16 rank checkpoint: +3.59%
+Mean progress: 55.11%
+Mean action MSE to best: 0.403
+
+| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 5 | 1 | raw | expert | 0.10 | 0.35 | 0.00 | 0 | 0.00 | 32.87% | 54.14% | 85.74% | 0.389 |
+| 1 | retrieval_residual | 5 | 1 | raw | expert | 0.10 | 0.35 | 0.00 | 0 | 0.00 | 32.35% | 54.81% | 86.96% | 0.396 |
+| 2 | retrieval_residual | 5 | 1 | raw | expert | 0.10 | 0.35 | 0.00 | 0 | 0.00 | 34.78% | 56.38% | 87.65% | 0.422 |

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_type_success025_summary.json

@@ -0,0 +1,289 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "near_miss_policy_bc5",
+  "out_name": "policy_rollout_retrieval_residual_scale0p35_type_success025.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.3327536231884058,
+  "std_success": 0.01458521231931493,
+  "mean_progress": 0.5508019064297084,
+  "mean_action_mse_to_best": 0.4013589472123894,
+  "gain_vs_h4": 0.03605362318840577,
+  "gain_vs_h16_rank_checkpoint": 0.03536231884057972,
+  "rows": [
+    {
+      "seed": 0,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/policy_rollout_retrieval_residual_scale0p35_type_success025.json",
+      "num_groups": 575,
+      "selection_mode": "retrieval_residual",
+      "num_candidates": 5,
+      "candidate_sigma": 0.0,
+      "field_optim_steps": 0,
+      "field_optim_step_size": 0.0,
+      "field_optim_trust_radius": 0.0,
+      "field_optim_l2_penalty": 0.0,
+      "retrieval_neighbors": 1,
+      "retrieval_metric": "raw",
+      "retrieval_type_min_success": 0.25,
+      "retrieval_residual_scale": 0.35,
+      "retrieval_residual_anchor": "expert",
+      "policy_rollout_success_rate": 0.32521739130434785,
+      "policy_rollout_progress": 0.5380419329922322,
+      "oracle_success_rate": 0.8573913043478261,
+      "action_mse_to_best": 0.3890486577226092,
+      "best_policy_val": {
+        "bc_loss": 0.13721593966086706,
+        "field_effect_loss": 0.009290305380192068,
+        "field_potential_loss": 0.2666468388504452,
+        "field_preference_loss": 0.5130573478009965,
+        "lattice_edges": 3833.3333333333335,
+        "progress_mae": 0.1933159919248687,
+        "rank_acc": 0.8265031774838766,
+        "rank_loss": 0.5130523675017886,
+        "regret_mae": 0.3756548762321472,
+        "success_accuracy": 0.8773836526605818,
+        "total_loss": 1.5581054819954767
+      },
+      "per_task": {
+        "LiftPegUpright-v1": {
+          "action_mse_to_best": 0.32533772717489257,
+          "expert_success_rate": 0.8865979381443299,
+          "num_groups": 97,
+          "oracle_success_rate": 0.9278350515463918,
+          "policy_expert_regret": 1.0923947420009632,
+          "policy_oracle_regret": 1.118810219709406,
+          "policy_rollout_progress": 0.567711429958491,
+          "policy_rollout_success_rate": 0.21649484536082475,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PickCube-v1": {
+          "action_mse_to_best": 0.3092051282023581,
+          "expert_success_rate": 0.9375,
+          "num_groups": 208,
+          "oracle_success_rate": 0.9471153846153846,
+          "policy_expert_regret": 1.025236448774544,
+          "policy_oracle_regret": 1.0386593162010496,
+          "policy_rollout_progress": 0.5837433214227741,
+          "policy_rollout_success_rate": 0.30288461538461536,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PullCube-v1": {
+          "action_mse_to_best": 0.607338386890176,
+          "expert_success_rate": 0.19480519480519481,
+          "num_groups": 77,
+          "oracle_success_rate": 0.36363636363636365,
+          "policy_expert_regret": 0.22117534107165773,
+          "policy_oracle_regret": 0.4382834872261125,
+          "policy_rollout_progress": 0.31418416151692247,
+          "policy_rollout_success_rate": 0.2077922077922078,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PushCube-v1": {
+          "action_mse_to_best": 0.3701509776663907,
+          "expert_success_rate": 0.8617021276595744,
+          "num_groups": 94,
+          "oracle_success_rate": 0.9893617021276596,
+          "policy_expert_regret": 0.5719673947450963,
+          "policy_oracle_regret": 0.668413888742315,
+          "policy_rollout_progress": 0.682649941044919,
+          "policy_rollout_success_rate": 0.648936170212766,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.4673869120935448,
+          "expert_success_rate": 0.6767676767676768,
+          "num_groups": 99,
+          "oracle_success_rate": 0.8585858585858586,
+          "policy_expert_regret": 0.9574467485601251,
+          "policy_oracle_regret": 1.1085237165292103,
+          "policy_rollout_progress": 0.44975976781411603,
+          "policy_rollout_success_rate": 0.26262626262626265,
+          "restore_max_error": 3.948807716369629e-07
+        }
+      }
+    },
+    {
+      "seed": 1,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/policy_rollout_retrieval_residual_scale0p35_type_success025.json",
+      "num_groups": 575,
+      "selection_mode": "retrieval_residual",
+      "num_candidates": 5,
+      "candidate_sigma": 0.0,
+      "field_optim_steps": 0,
+      "field_optim_step_size": 0.0,
+      "field_optim_trust_radius": 0.0,
+      "field_optim_l2_penalty": 0.0,
+      "retrieval_neighbors": 1,
+      "retrieval_metric": "raw",
+      "retrieval_type_min_success": 0.25,
+      "retrieval_residual_scale": 0.35,
+      "retrieval_residual_anchor": "expert",
+      "policy_rollout_success_rate": 0.3234782608695652,
+      "policy_rollout_progress": 0.5486927327529891,
+      "oracle_success_rate": 0.8695652173913043,
+      "action_mse_to_best": 0.39492910746970905,
+      "best_policy_val": {
+        "bc_loss": 0.1315989200439718,
+        "field_effect_loss": 0.010110370814800262,
+        "field_potential_loss": 0.31546536915832096,
+        "field_preference_loss": 0.4960637440284093,
+        "lattice_edges": 3833.3333333333335,
+        "progress_mae": 0.19023226698239645,
+        "rank_acc": 0.8255469501018524,
+        "rank_loss": 0.4960531195004781,
+        "regret_mae": 0.42156532737943864,
+        "success_accuracy": 0.8807473679383596,
+        "total_loss": 1.561984618504842
+      },
+      "per_task": {
+        "LiftPegUpright-v1": {
+          "action_mse_to_best": 0.32961989826300236,
+          "expert_success_rate": 0.8584070796460177,
+          "num_groups": 113,
+          "oracle_success_rate": 0.9380530973451328,
+          "policy_expert_regret": 0.9989857966393496,
+          "policy_oracle_regret": 1.0781879517356907,
+          "policy_rollout_progress": 0.6327733315725242,
+          "policy_rollout_success_rate": 0.22123893805309736,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PickCube-v1": {
+          "action_mse_to_best": 0.3271206602170739,
+          "expert_success_rate": 0.9402173913043478,
+          "num_groups": 184,
+          "oracle_success_rate": 0.9456521739130435,
+          "policy_expert_regret": 1.1060857616780002,
+          "policy_oracle_regret": 1.1061097661529302,
+          "policy_rollout_progress": 0.5576142925192076,
+          "policy_rollout_success_rate": 0.2826086956521739,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PullCube-v1": {
+          "action_mse_to_best": 0.5715608798751706,
+          "expert_success_rate": 0.25,
+          "num_groups": 76,
+          "oracle_success_rate": 0.40789473684210525,
+          "policy_expert_regret": 0.3506602184405844,
+          "policy_oracle_regret": 0.619953330042527,
+          "policy_rollout_progress": 0.24527493430497616,
+          "policy_rollout_success_rate": 0.13157894736842105,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PushCube-v1": {
+          "action_mse_to_best": 0.37514687879933967,
+          "expert_success_rate": 0.8198198198198198,
+          "num_groups": 111,
+          "oracle_success_rate": 1.0,
+          "policy_expert_regret": 0.36506524561224757,
+          "policy_oracle_regret": 0.44854555473671304,
+          "policy_rollout_progress": 0.7856886794975212,
+          "policy_rollout_success_rate": 0.7657657657657657,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.48974787246354007,
+          "expert_success_rate": 0.6923076923076923,
+          "num_groups": 91,
+          "oracle_success_rate": 0.8571428571428571,
+          "policy_expert_regret": 1.1278909069823695,
+          "policy_oracle_regret": 1.3000386611118422,
+          "policy_rollout_progress": 0.39056666604765167,
+          "policy_rollout_success_rate": 0.15384615384615385,
+          "restore_max_error": 3.948807716369629e-07
+        }
+      }
+    },
+    {
+      "seed": 2,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/policy_rollout_retrieval_residual_scale0p35_type_success025.json",
+      "num_groups": 575,
+      "selection_mode": "retrieval_residual",
+      "num_candidates": 5,
+      "candidate_sigma": 0.0,
+      "field_optim_steps": 0,
+      "field_optim_step_size": 0.0,
+      "field_optim_trust_radius": 0.0,
+      "field_optim_l2_penalty": 0.0,
+      "retrieval_neighbors": 1,
+      "retrieval_metric": "raw",
+      "retrieval_type_min_success": 0.25,
+      "retrieval_residual_scale": 0.35,
+      "retrieval_residual_anchor": "expert",
+      "policy_rollout_success_rate": 0.34956521739130436,
+      "policy_rollout_progress": 0.5656710535439039,
+      "oracle_success_rate": 0.8765217391304347,
+      "action_mse_to_best": 0.42009907644485,
+      "best_policy_val": {
+        "bc_loss": 0.11367896075050037,
+        "field_effect_loss": 0.009670218582161598,
+        "field_potential_loss": 0.2641640139950646,
+        "field_preference_loss": 0.5130490180518892,
+        "lattice_edges": 3833.3333333333335,
+        "progress_mae": 0.2021729110015763,
+        "rank_acc": 0.8333857821093665,
+        "rank_loss": 0.5130119257503085,
+        "regret_mae": 0.3958987047274907,
+        "success_accuracy": 0.8680730561415354,
+        "total_loss": 1.4394984311527677
+      },
+      "per_task": {
+        "LiftPegUpright-v1": {
+          "action_mse_to_best": 0.35361564260771655,
+          "expert_success_rate": 0.8229166666666666,
+          "num_groups": 96,
+          "oracle_success_rate": 0.9270833333333334,
+          "policy_expert_regret": 0.8470402403424183,
+          "policy_oracle_regret": 0.9533149556567272,
+          "policy_rollout_progress": 0.6469602342694998,
+          "policy_rollout_success_rate": 0.3333333333333333,
+          "restore_max_error": 3.5762786865234375e-07
+        },
+        "PickCube-v1": {
+          "action_mse_to_best": 0.3418835209061702,
+          "expert_success_rate": 0.9444444444444444,
+          "num_groups": 198,
+          "oracle_success_rate": 0.9595959595959596,
+          "policy_expert_regret": 1.054949007693189,
+          "policy_oracle_regret": 1.0620324582218974,
+          "policy_rollout_progress": 0.5998374074038983,
+          "policy_rollout_success_rate": 0.29292929292929293,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PullCube-v1": {
+          "action_mse_to_best": 0.6294899263315731,
+          "expert_success_rate": 0.24444444444444444,
+          "num_groups": 90,
+          "oracle_success_rate": 0.4666666666666667,
+          "policy_expert_regret": 0.29368426450699997,
+          "policy_oracle_regret": 0.5414197320808347,
+          "policy_rollout_progress": 0.3202047673295561,
+          "policy_rollout_success_rate": 0.2111111111111111,
+          "restore_max_error": 4.0978193283081055e-07
+        },
+        "PushCube-v1": {
+          "action_mse_to_best": 0.39332203817839667,
+          "expert_success_rate": 0.8514851485148515,
+          "num_groups": 101,
+          "oracle_success_rate": 1.0,
+          "policy_expert_regret": 0.3990432453332561,
+          "policy_oracle_regret": 0.472679869373246,
+          "policy_rollout_progress": 0.7748448831020015,
+          "policy_rollout_success_rate": 0.7524752475247525,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.4837478988907403,
+          "expert_success_rate": 0.7666666666666667,
+          "num_groups": 90,
+          "oracle_success_rate": 0.9111111111111111,
+          "policy_expert_regret": 1.1536250283320746,
+          "policy_oracle_regret": 1.2897137719723912,
+          "policy_rollout_progress": 0.4145233819882075,
+          "policy_rollout_success_rate": 0.17777777777777778,
+          "restore_max_error": 4.76837158203125e-07
+        }
+      }
+    }
+  ]
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_type_success025_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_scale0p35_type_success025.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 33.28% +/- 1.46%
+Gain vs h=16 rank checkpoint: +3.54%
+Mean progress: 55.08%
+Mean action MSE to best: 0.401
+
+| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 5 | 1 | raw | expert | 0.25 | 0.35 | 0.00 | 0 | 0.00 | 32.52% | 53.80% | 85.74% | 0.389 |
+| 1 | retrieval_residual | 5 | 1 | raw | expert | 0.25 | 0.35 | 0.00 | 0 | 0.00 | 32.35% | 54.87% | 86.96% | 0.395 |
+| 2 | retrieval_residual | 5 | 1 | raw | expert | 0.25 | 0.35 | 0.00 | 0 | 0.00 | 34.96% | 56.57% | 87.65% | 0.420 |

scripts/eval_maniskill_policy_rollout.py

@@ -73,6 +73,12 @@ def main(argv: list[str] | None = None) -> int:
         default=0,
         help="Base RNG seed for candidate perturbations.",
     )
+    parser.add_argument(
+        "--selection-margin",
+        type=float,
+        default=0.0,
+        help="Minimum field-potential advantage over candidate 0 required to leave it.",
+    )
     parser.add_argument(
         "--field-optim-steps",
         type=int,
@@ -153,6 +159,7 @@ def main(argv: list[str] | None = None) -> int:
         num_candidates=args.num_candidates,
         candidate_sigma=args.candidate_sigma,
         selection_seed=args.selection_seed,
+        selection_margin=args.selection_margin,
         field_optim_steps=args.field_optim_steps,
         field_optim_step_size=args.field_optim_step_size,
         field_optim_trust_radius=args.field_optim_trust_radius,

scripts/slurm/eval_maniskill_policy_rollout.sbatch

@@ -44,6 +44,7 @@ SELECTION_MODE="${SELECTION_MODE:-policy}"
 NUM_CANDIDATES="${NUM_CANDIDATES:-1}"
 CANDIDATE_SIGMA="${CANDIDATE_SIGMA:-0.2}"
 SELECTION_SEED="${SELECTION_SEED:-0}"
+SELECTION_MARGIN="${SELECTION_MARGIN:-0.0}"
 FIELD_OPTIM_STEPS="${FIELD_OPTIM_STEPS:-0}"
 FIELD_OPTIM_STEP_SIZE="${FIELD_OPTIM_STEP_SIZE:-0.05}"
 FIELD_OPTIM_TRUST_RADIUS="${FIELD_OPTIM_TRUST_RADIUS:-0.5}"
@@ -96,6 +97,7 @@ apptainer exec --nv \
     --num-candidates "$NUM_CANDIDATES" \
     --candidate-sigma "$CANDIDATE_SIGMA" \
     --selection-seed "$SELECTION_SEED" \
+    --selection-margin "$SELECTION_MARGIN" \
     --field-optim-steps "$FIELD_OPTIM_STEPS" \
     --field-optim-step-size "$FIELD_OPTIM_STEP_SIZE" \
     --field-optim-trust-radius "$FIELD_OPTIM_TRUST_RADIUS" \

scripts/slurm/summarize_h16_policy_ckpt.sbatch

@@ -55,6 +55,7 @@ for result_path in sorted(base_dir.glob(f"seed_*/{out_name}")):
             "selection_mode": data.get("selection_mode"),
             "num_candidates": data.get("num_candidates"),
             "candidate_sigma": data.get("candidate_sigma"),
+            "selection_margin": data.get("selection_margin", 0.0),
             "field_optim_steps": data.get("field_optim_steps", 0),
             "field_optim_step_size": data.get("field_optim_step_size", 0.0),
             "field_optim_trust_radius": data.get("field_optim_trust_radius", 0.0),
@@ -124,12 +125,12 @@ lines = [
     f"Mean progress: {summary['mean_progress']:.2%}",
     f"Mean action MSE to best: {summary['mean_action_mse_to_best']:.3f}",
     "",
-    "| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | sigma | opt steps | trust | success | progress | oracle | action MSE |",
-    "|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|",
+    "| seed | mode | k | retrieval K | retrieval metric | residual anchor | min type success | residual scale | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |",
+    "|---:|---|---:|---:|---|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|",
 ]
 for row in rows:
     lines.append(
-        "| {seed} | {mode} | {k} | {retrieval} | {metric} | {anchor} | {min_success:.2f} | {scale:.2f} | {sigma:.2f} | {steps} | {trust:.2f} | "
+        "| {seed} | {mode} | {k} | {retrieval} | {metric} | {anchor} | {min_success:.2f} | {scale:.2f} | {margin:.3f} | {sigma:.2f} | {steps} | {trust:.2f} | "
         "{success:.2%} | {progress:.2%} | {oracle:.2%} | {mse:.3f} |".format(
             seed=row["seed"],
             mode=row.get("selection_mode") or "policy",
@@ -139,6 +140,7 @@ for row in rows:
             anchor=row.get("retrieval_residual_anchor") or "none",
             min_success=row.get("retrieval_type_min_success") or 0.0,
             scale=row.get("retrieval_residual_scale") or 0.0,
+            margin=row.get("selection_margin") or 0.0,
             sigma=row.get("candidate_sigma") or 0.0,
             steps=row.get("field_optim_steps") or 0,
             trust=row.get("field_optim_trust_radius") or 0.0,