manual-sync chart-synthesis 2026-07-02T22:45:08Z workspace/results/generator_v2_positive_tangent_chart_synthesis_d12_w4x_tau0p5_eval.json
Browse files
workspace/results/generator_v2_positive_tangent_chart_synthesis_d12_w4x_tau0p5_eval.json
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| 1 |
+
{
|
| 2 |
+
"report_type": "positive_tangent_chart_synthesis_eval",
|
| 3 |
+
"metric_scope": "offline_support_proxy",
|
| 4 |
+
"note": "Chart synthesis proposes train-only positive tangents from local atlas neighborhoods plus barycentric chart means. It tests whether local positive support is better represented as chart coordinates than as raw prototype replay.",
|
| 5 |
+
"config": {
|
| 6 |
+
"obs_dim": 96,
|
| 7 |
+
"text_dim": 64,
|
| 8 |
+
"val_fraction": 0.2,
|
| 9 |
+
"seed": 0,
|
| 10 |
+
"neighbor_pool": 64,
|
| 11 |
+
"direct_count": 12,
|
| 12 |
+
"barycentric_windows": [
|
| 13 |
+
4,
|
| 14 |
+
8,
|
| 15 |
+
16,
|
| 16 |
+
32
|
| 17 |
+
],
|
| 18 |
+
"barycentric_temperature": 0.5,
|
| 19 |
+
"utility_weight": 0.0,
|
| 20 |
+
"order": "direct_first",
|
| 21 |
+
"same_task_only": true
|
| 22 |
+
},
|
| 23 |
+
"task_ids": [
|
| 24 |
+
"LiftPegUpright-v1",
|
| 25 |
+
"PickCube-v1",
|
| 26 |
+
"PullCube-v1",
|
| 27 |
+
"PushCube-v1",
|
| 28 |
+
"StackCube-v1"
|
| 29 |
+
],
|
| 30 |
+
"code_dim": 21,
|
| 31 |
+
"horizon": 16,
|
| 32 |
+
"action_dim": 7,
|
| 33 |
+
"num_examples": 43095,
|
| 34 |
+
"num_groups": 2873,
|
| 35 |
+
"num_train_examples": 34275,
|
| 36 |
+
"num_val_examples": 8820,
|
| 37 |
+
"num_train_positive": 1198,
|
| 38 |
+
"num_val_groups_with_positive": 93,
|
| 39 |
+
"label_counts": {
|
| 40 |
+
"neutral": 6310,
|
| 41 |
+
"negative": 35225,
|
| 42 |
+
"positive": 1560
|
| 43 |
+
},
|
| 44 |
+
"train_positive_by_task": {
|
| 45 |
+
"LiftPegUpright-v1": 50,
|
| 46 |
+
"PickCube-v1": 15,
|
| 47 |
+
"PullCube-v1": 723,
|
| 48 |
+
"PushCube-v1": 308,
|
| 49 |
+
"StackCube-v1": 102
|
| 50 |
+
},
|
| 51 |
+
"overall": {
|
| 52 |
+
"num_groups": 93,
|
| 53 |
+
"mean_positive_min_rms_l2_at_1": 0.7900737600636368,
|
| 54 |
+
"median_positive_min_rms_l2_at_1": 0.6695273756030672,
|
| 55 |
+
"positive_closer_than_negative_rate_at_1": 0.7066666666666667,
|
| 56 |
+
"ptr_proxy_at_1_thr_0p05": 0.0,
|
| 57 |
+
"negative_near_at_1_thr_0p05": 0.0,
|
| 58 |
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"ptr_proxy_at_1_thr_0p1": 0.053763440860215055,
|
| 59 |
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"negative_near_at_1_thr_0p1": 0.0,
|
| 60 |
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"ptr_proxy_at_1_thr_0p2": 0.12903225806451613,
|
| 61 |
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"negative_near_at_1_thr_0p2": 0.013333333333333334,
|
| 62 |
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"ptr_proxy_at_1_thr_0p4": 0.3655913978494624,
|
| 63 |
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"negative_near_at_1_thr_0p4": 0.28,
|
| 64 |
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"mean_positive_min_rms_l2_at_2": 0.7249428095929792,
|
| 65 |
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"median_positive_min_rms_l2_at_2": 0.5607585793949111,
|
| 66 |
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"positive_closer_than_negative_rate_at_2": 0.72,
|
| 67 |
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"ptr_proxy_at_2_thr_0p05": 0.0,
|
| 68 |
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"negative_near_at_2_thr_0p05": 0.0,
|
| 69 |
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"ptr_proxy_at_2_thr_0p1": 0.053763440860215055,
|
| 70 |
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"negative_near_at_2_thr_0p1": 0.0,
|
| 71 |
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"ptr_proxy_at_2_thr_0p2": 0.13978494623655913,
|
| 72 |
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"negative_near_at_2_thr_0p2": 0.013333333333333334,
|
| 73 |
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"ptr_proxy_at_2_thr_0p4": 0.41935483870967744,
|
| 74 |
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"negative_near_at_2_thr_0p4": 0.3333333333333333,
|
| 75 |
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"mean_positive_min_rms_l2_at_4": 0.6862117028311628,
|
| 76 |
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"median_positive_min_rms_l2_at_4": 0.5132225365388742,
|
| 77 |
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"positive_closer_than_negative_rate_at_4": 0.68,
|
| 78 |
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"ptr_proxy_at_4_thr_0p05": 0.0,
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| 79 |
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"negative_near_at_4_thr_0p05": 0.013333333333333334,
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| 80 |
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"ptr_proxy_at_4_thr_0p1": 0.053763440860215055,
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| 81 |
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"negative_near_at_4_thr_0p1": 0.013333333333333334,
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| 82 |
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"ptr_proxy_at_4_thr_0p2": 0.20430107526881722,
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| 83 |
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"negative_near_at_4_thr_0p2": 0.02666666666666667,
|
| 84 |
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"ptr_proxy_at_4_thr_0p4": 0.46236559139784944,
|
| 85 |
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"negative_near_at_4_thr_0p4": 0.3466666666666667,
|
| 86 |
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"mean_positive_min_rms_l2_at_8": 0.6116080536932593,
|
| 87 |
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"median_positive_min_rms_l2_at_8": 0.4275032309992804,
|
| 88 |
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"positive_closer_than_negative_rate_at_8": 0.6533333333333333,
|
| 89 |
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"ptr_proxy_at_8_thr_0p05": 0.0,
|
| 90 |
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"negative_near_at_8_thr_0p05": 0.013333333333333334,
|
| 91 |
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"ptr_proxy_at_8_thr_0p1": 0.06451612903225806,
|
| 92 |
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"negative_near_at_8_thr_0p1": 0.013333333333333334,
|
| 93 |
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"ptr_proxy_at_8_thr_0p2": 0.21505376344086022,
|
| 94 |
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"negative_near_at_8_thr_0p2": 0.02666666666666667,
|
| 95 |
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"ptr_proxy_at_8_thr_0p4": 0.4946236559139785,
|
| 96 |
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"negative_near_at_8_thr_0p4": 0.4266666666666667,
|
| 97 |
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"mean_positive_min_rms_l2_at_16": 0.5236520132603956,
|
| 98 |
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"median_positive_min_rms_l2_at_16": 0.3660981452382694,
|
| 99 |
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"positive_closer_than_negative_rate_at_16": 0.6533333333333333,
|
| 100 |
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"ptr_proxy_at_16_thr_0p05": 0.0,
|
| 101 |
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"negative_near_at_16_thr_0p05": 0.02666666666666667,
|
| 102 |
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"ptr_proxy_at_16_thr_0p1": 0.08602150537634409,
|
| 103 |
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"negative_near_at_16_thr_0p1": 0.02666666666666667,
|
| 104 |
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"ptr_proxy_at_16_thr_0p2": 0.23655913978494625,
|
| 105 |
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"negative_near_at_16_thr_0p2": 0.06666666666666667,
|
| 106 |
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"ptr_proxy_at_16_thr_0p4": 0.5268817204301075,
|
| 107 |
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"negative_near_at_16_thr_0p4": 0.4533333333333333
|
| 108 |
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},
|
| 109 |
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"per_task": {
|
| 110 |
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"LiftPegUpright-v1": {
|
| 111 |
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"num_groups": 8,
|
| 112 |
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"mean_positive_min_rms_l2_at_1": 0.3531036835477789,
|
| 113 |
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"median_positive_min_rms_l2_at_1": 0.23071157225942066,
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| 114 |
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"positive_closer_than_negative_rate_at_1": 0.625,
|
| 115 |
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|
| 116 |
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| 117 |
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"ptr_proxy_at_1_thr_0p1": 0.125,
|
| 118 |
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"negative_near_at_1_thr_0p1": 0.0,
|
| 119 |
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"ptr_proxy_at_1_thr_0p2": 0.375,
|
| 120 |
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"negative_near_at_1_thr_0p2": 0.0,
|
| 121 |
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"ptr_proxy_at_1_thr_0p4": 0.625,
|
| 122 |
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"negative_near_at_1_thr_0p4": 0.625,
|
| 123 |
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"mean_positive_min_rms_l2_at_2": 0.33940845009416964,
|
| 124 |
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"median_positive_min_rms_l2_at_2": 0.2134030337872797,
|
| 125 |
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"positive_closer_than_negative_rate_at_2": 0.625,
|
| 126 |
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"ptr_proxy_at_2_thr_0p05": 0.0,
|
| 127 |
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"negative_near_at_2_thr_0p05": 0.0,
|
| 128 |
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"ptr_proxy_at_2_thr_0p1": 0.125,
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| 129 |
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"negative_near_at_2_thr_0p1": 0.0,
|
| 130 |
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"ptr_proxy_at_2_thr_0p2": 0.375,
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| 131 |
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| 132 |
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| 133 |
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"negative_near_at_2_thr_0p4": 0.625,
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| 134 |
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"mean_positive_min_rms_l2_at_4": 0.3103481352544669,
|
| 135 |
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"median_positive_min_rms_l2_at_4": 0.1987891606298727,
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| 136 |
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"positive_closer_than_negative_rate_at_4": 0.5,
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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"negative_near_at_4_thr_0p1": 0.125,
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| 141 |
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| 142 |
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| 143 |
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"mean_positive_min_rms_l2_at_16": 0.2261310444506628,
|
| 389 |
+
"median_positive_min_rms_l2_at_16": 0.21036340476786553,
|
| 390 |
+
"positive_closer_than_negative_rate_at_16": 0.9375,
|
| 391 |
+
"ptr_proxy_at_16_thr_0p05": 0.0,
|
| 392 |
+
"negative_near_at_16_thr_0p05": 0.0,
|
| 393 |
+
"ptr_proxy_at_16_thr_0p1": 0.1875,
|
| 394 |
+
"negative_near_at_16_thr_0p1": 0.0,
|
| 395 |
+
"ptr_proxy_at_16_thr_0p2": 0.4375,
|
| 396 |
+
"negative_near_at_16_thr_0p2": 0.0,
|
| 397 |
+
"ptr_proxy_at_16_thr_0p4": 0.9375,
|
| 398 |
+
"negative_near_at_16_thr_0p4": 0.875
|
| 399 |
+
}
|
| 400 |
+
},
|
| 401 |
+
"targets": "/lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_targets.json"
|
| 402 |
+
}
|