Auto-sync: 2026-06-28 00:54:07 (part 2)
Browse files- results/README.md +5 -1
- results/dovla_cil_run_report_2026-06-27.md +22 -17
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_v2_summary.json +277 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_v2_summary.md +19 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_v2_summary.json +277 -0
results/README.md
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Pending field-optimization jobs:
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Last checked: `2026-06-28 04:
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- Job `14842523` is a small runtime smoke test for `selection_mode=field_optim`
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(`MAX_GROUPS=64`, `near_miss_policy_bc5` + `best.pt`); it is pending on
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- Job `14857114` reruns KNN4 `retrieval_residual` smoke, `14857115` runs full
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validation after that smoke, and `14857116` summarizes it.
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- Job `14857117` rebuilds `paper_table_status.*` after both residual summaries.
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- Jobs `14857692`/`14857693`/`14857694` evaluate the nearest-1
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`retrieval_residual` diagnostic restricted to transferred `residual_near_miss`
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proposals.
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near-miss residual diagnostic.
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- Job `14857698` rebuilds `paper_table_status.*` after those near-miss residual
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summaries.
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Paper table automation:
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Pending field-optimization jobs:
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+
Last checked: `2026-06-28 04:51 UTC`.
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- Job `14842523` is a small runtime smoke test for `selection_mode=field_optim`
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(`MAX_GROUPS=64`, `near_miss_policy_bc5` + `best.pt`); it is pending on
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- Job `14857114` reruns KNN4 `retrieval_residual` smoke, `14857115` runs full
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validation after that smoke, and `14857116` summarizes it.
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- Job `14857117` rebuilds `paper_table_status.*` after both residual summaries.
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+
It completed successfully.
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- Jobs `14857692`/`14857693`/`14857694` evaluate the nearest-1
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`retrieval_residual` diagnostic restricted to transferred `residual_near_miss`
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proposals.
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near-miss residual diagnostic.
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- Job `14857698` rebuilds `paper_table_status.*` after those near-miss residual
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summaries.
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- Nearest-1 residual v2 completed at 32.12% success; KNN4 residual completed at
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29.91%. The near-miss-only residual smokes reached only 14.06%, so the full
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near-miss-only residual jobs were canceled.
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Paper table automation:
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results/dovla_cil_run_report_2026-06-27.md
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| 14842619 | Patched summary for KNN `retrieval_residual` rollout | Pending |
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| 14842646 | CPU unit smoke for KNN `retrieval_residual` helper | Completed |
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| 14857111 | Rerun fixed nearest-1 `retrieval_residual` smoke | Pending |
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| 14857112 | Rerun fixed nearest-1 `retrieval_residual` full rollout |
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| 14857113 | Summarize fixed nearest-1 `retrieval_residual` rollout |
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| 14857114 | Rerun fixed KNN4 `retrieval_residual` smoke |
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| 14857115 | Rerun fixed KNN4 `retrieval_residual` full rollout |
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| 14857116 | Summarize fixed KNN4 `retrieval_residual` rollout |
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| 14857117 | Rebuild paper table after fixed residual summaries |
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| 14857692 | Smoke-test nearest-1 transferred near-miss residual retrieval |
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| 14857693 | Evaluate nearest-1 transferred near-miss residual retrieval |
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| 14857694 | Summarize nearest-1 transferred near-miss residual retrieval |
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| 14857695 | Smoke-test KNN4 transferred near-miss residual retrieval |
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| 14857696 | Evaluate KNN4 transferred near-miss residual retrieval |
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| 14857697 | Summarize KNN4 transferred near-miss residual retrieval |
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| 14857698 | Rebuild paper table after near-miss residual summaries |
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Last queue check: `2026-06-28 04:
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`field_optim`, `nonexpert_policy_bc5`, and their summaries completed; fixed
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`retrieval_residual` v2 jobs are now pending on priority/dependencies.
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`14857111`-`14857117` were submitted.
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The first fixed residual smokes passed and full rollouts started. Because the
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smoke JSON showed the field often selected `policy_residual` and non-near-miss
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residuals, jobs `14857692`
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transferred `residual_near_miss` proposals remain eligible.
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Paper table automation now lives in `scripts/build_paper_table_status.py` with a
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CPU wrapper at `scripts/slurm/build_paper_table_status.sbatch`. The table builder
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| 14842619 | Patched summary for KNN `retrieval_residual` rollout | Pending |
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| 14842646 | CPU unit smoke for KNN `retrieval_residual` helper | Completed |
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| 14857111 | Rerun fixed nearest-1 `retrieval_residual` smoke | Pending |
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| 14857112 | Rerun fixed nearest-1 `retrieval_residual` full rollout | Completed |
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| 14857113 | Summarize fixed nearest-1 `retrieval_residual` rollout | Completed locally and via Slurm |
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| 14857114 | Rerun fixed KNN4 `retrieval_residual` smoke | Completed |
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| 14857115 | Rerun fixed KNN4 `retrieval_residual` full rollout | Completed |
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| 14857116 | Summarize fixed KNN4 `retrieval_residual` rollout | Completed |
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| 14857117 | Rebuild paper table after fixed residual summaries | Completed |
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| 14857692 | Smoke-test nearest-1 transferred near-miss residual retrieval | Completed |
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| 14857693 | Evaluate nearest-1 transferred near-miss residual retrieval | Canceled after weak smoke |
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| 14857694 | Summarize nearest-1 transferred near-miss residual retrieval | Canceled |
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| 14857695 | Smoke-test KNN4 transferred near-miss residual retrieval | Completed |
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| 14857696 | Evaluate KNN4 transferred near-miss residual retrieval | Canceled after weak smoke |
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| 14857697 | Summarize KNN4 transferred near-miss residual retrieval | Canceled |
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| 14857698 | Rebuild paper table after near-miss residual summaries | Canceled |
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Last queue check: `2026-06-28 04:51 UTC`. The earlier queue backlog cleared.
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`field_optim`, `nonexpert_policy_bc5`, and their summaries completed; fixed
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`retrieval_residual` v2 jobs are now pending on priority/dependencies.
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`14857111`-`14857117` were submitted.
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The first fixed residual smokes passed and full rollouts started. Because the
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smoke JSON showed the field often selected `policy_residual` and non-near-miss
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residuals, jobs `14857692` and `14857695` tested a sharper smoke diagnostic
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where only transferred `residual_near_miss` proposals remain eligible.
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Nearest-1 residual retrieval completed at 32.12% (+2.38 pp over h=16 policy),
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close to but below the clean best 32.93%. KNN4 residual retrieval completed at
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29.91%, indicating that adding more retrieved tangent neighborhoods dilutes the
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signal. The near-miss-only residual smoke was only 14.06%, so the full
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near-miss-only residual jobs were canceled.
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Paper table automation now lives in `scripts/build_paper_table_status.py` with a
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CPU wrapper at `scripts/slurm/build_paper_table_status.sbatch`. The table builder
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results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_v2_summary.json
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| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "near_miss_policy_bc5",
|
| 4 |
+
"out_name": "retrieval_residual_knn4_v2_rollout.json",
|
| 5 |
+
"num_completed": 3,
|
| 6 |
+
"baseline_h4_policy_success": 0.2967,
|
| 7 |
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"baseline_h16_rank_checkpoint_success": 0.29739130434782607,
|
| 8 |
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"mean_success": 0.2991304347826087,
|
| 9 |
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"std_success": 0.02005663059942746,
|
| 10 |
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"mean_progress": 0.5339705883982875,
|
| 11 |
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"mean_action_mse_to_best": 0.6740692569633973,
|
| 12 |
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"gain_vs_h4": 0.0024304347826086814,
|
| 13 |
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"gain_vs_h16_rank_checkpoint": 0.001739130434782632,
|
| 14 |
+
"rows": [
|
| 15 |
+
{
|
| 16 |
+
"seed": 0,
|
| 17 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/retrieval_residual_knn4_v2_rollout.json",
|
| 18 |
+
"num_groups": 575,
|
| 19 |
+
"selection_mode": "retrieval_residual",
|
| 20 |
+
"num_candidates": 64,
|
| 21 |
+
"candidate_sigma": 0.0,
|
| 22 |
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"field_optim_steps": 0,
|
| 23 |
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"field_optim_step_size": 0.0,
|
| 24 |
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"field_optim_trust_radius": 0.0,
|
| 25 |
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"field_optim_l2_penalty": 0.0,
|
| 26 |
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"retrieval_neighbors": 4,
|
| 27 |
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"policy_rollout_success_rate": 0.2782608695652174,
|
| 28 |
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"policy_rollout_progress": 0.5109179835960916,
|
| 29 |
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"oracle_success_rate": 0.8573913043478261,
|
| 30 |
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"action_mse_to_best": 0.8115562080672901,
|
| 31 |
+
"best_policy_val": {
|
| 32 |
+
"bc_loss": 0.13721593966086706,
|
| 33 |
+
"field_effect_loss": 0.009290305380192068,
|
| 34 |
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"field_potential_loss": 0.2666468388504452,
|
| 35 |
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"field_preference_loss": 0.5130573478009965,
|
| 36 |
+
"lattice_edges": 3833.3333333333335,
|
| 37 |
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"progress_mae": 0.1933159919248687,
|
| 38 |
+
"rank_acc": 0.8265031774838766,
|
| 39 |
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"rank_loss": 0.5130523675017886,
|
| 40 |
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"regret_mae": 0.3756548762321472,
|
| 41 |
+
"success_accuracy": 0.8773836526605818,
|
| 42 |
+
"total_loss": 1.5581054819954767
|
| 43 |
+
},
|
| 44 |
+
"per_task": {
|
| 45 |
+
"LiftPegUpright-v1": {
|
| 46 |
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"action_mse_to_best": 1.4539887857882632,
|
| 47 |
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"expert_success_rate": 0.8865979381443299,
|
| 48 |
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"num_groups": 97,
|
| 49 |
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"oracle_success_rate": 0.9278350515463918,
|
| 50 |
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"policy_expert_regret": 1.32526028494245,
|
| 51 |
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"policy_oracle_regret": 1.3648747405440538,
|
| 52 |
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"policy_rollout_progress": 0.44535824933002904,
|
| 53 |
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"policy_rollout_success_rate": 0.09278350515463918,
|
| 54 |
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"restore_max_error": 2.384185791015625e-07
|
| 55 |
+
},
|
| 56 |
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"PickCube-v1": {
|
| 57 |
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"action_mse_to_best": 0.43021411278123894,
|
| 58 |
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"expert_success_rate": 0.9375,
|
| 59 |
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"num_groups": 208,
|
| 60 |
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"oracle_success_rate": 0.9471153846153846,
|
| 61 |
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"policy_expert_regret": 1.0523346415452228,
|
| 62 |
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"policy_oracle_regret": 1.0657575089717284,
|
| 63 |
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"policy_rollout_progress": 0.5662605132674798,
|
| 64 |
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"policy_rollout_success_rate": 0.2932692307692308,
|
| 65 |
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"restore_max_error": 2.384185791015625e-07
|
| 66 |
+
},
|
| 67 |
+
"PullCube-v1": {
|
| 68 |
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"action_mse_to_best": 0.7097426858041194,
|
| 69 |
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"expert_success_rate": 0.19480519480519481,
|
| 70 |
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"num_groups": 77,
|
| 71 |
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"oracle_success_rate": 0.36363636363636365,
|
| 72 |
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"policy_expert_regret": 0.2187154905797986,
|
| 73 |
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"policy_oracle_regret": 0.4380442425608635,
|
| 74 |
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"policy_rollout_progress": 0.3043108030960157,
|
| 75 |
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"policy_rollout_success_rate": 0.19480519480519481,
|
| 76 |
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"restore_max_error": 2.3096799850463867e-07
|
| 77 |
+
},
|
| 78 |
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"PushCube-v1": {
|
| 79 |
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"action_mse_to_best": 0.4324036994354522,
|
| 80 |
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"expert_success_rate": 0.8617021276595744,
|
| 81 |
+
"num_groups": 94,
|
| 82 |
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"oracle_success_rate": 0.9893617021276596,
|
| 83 |
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"policy_expert_regret": 0.5528638410441419,
|
| 84 |
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"policy_oracle_regret": 0.6304144875166264,
|
| 85 |
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"policy_rollout_progress": 0.6993727465259268,
|
| 86 |
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"policy_rollout_success_rate": 0.6702127659574468,
|
| 87 |
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"restore_max_error": 2.384185791015625e-07
|
| 88 |
+
},
|
| 89 |
+
"StackCube-v1": {
|
| 90 |
+
"action_mse_to_best": 1.4224973475240699,
|
| 91 |
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"expert_success_rate": 0.6767676767676768,
|
| 92 |
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"num_groups": 99,
|
| 93 |
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"oracle_success_rate": 0.8585858585858586,
|
| 94 |
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"policy_expert_regret": 1.0807228234380182,
|
| 95 |
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"policy_oracle_regret": 1.2590619327142984,
|
| 96 |
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"policy_rollout_progress": 0.44063569304316935,
|
| 97 |
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"policy_rollout_success_rate": 0.12121212121212122,
|
| 98 |
+
"restore_max_error": 2.384185791015625e-07
|
| 99 |
+
}
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"seed": 1,
|
| 104 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/retrieval_residual_knn4_v2_rollout.json",
|
| 105 |
+
"num_groups": 575,
|
| 106 |
+
"selection_mode": "retrieval_residual",
|
| 107 |
+
"num_candidates": 64,
|
| 108 |
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"candidate_sigma": 0.0,
|
| 109 |
+
"field_optim_steps": 0,
|
| 110 |
+
"field_optim_step_size": 0.0,
|
| 111 |
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"field_optim_trust_radius": 0.0,
|
| 112 |
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"field_optim_l2_penalty": 0.0,
|
| 113 |
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"retrieval_neighbors": 4,
|
| 114 |
+
"policy_rollout_success_rate": 0.3008695652173913,
|
| 115 |
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"policy_rollout_progress": 0.5379841797219832,
|
| 116 |
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"oracle_success_rate": 0.8695652173913043,
|
| 117 |
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"action_mse_to_best": 0.6072114229510012,
|
| 118 |
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"best_policy_val": {
|
| 119 |
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"bc_loss": 0.1315989200439718,
|
| 120 |
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"field_effect_loss": 0.010110370814800262,
|
| 121 |
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"field_potential_loss": 0.31546536915832096,
|
| 122 |
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"field_preference_loss": 0.4960637440284093,
|
| 123 |
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"lattice_edges": 3833.3333333333335,
|
| 124 |
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"progress_mae": 0.19023226698239645,
|
| 125 |
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"rank_acc": 0.8255469501018524,
|
| 126 |
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"rank_loss": 0.4960531195004781,
|
| 127 |
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"regret_mae": 0.42156532737943864,
|
| 128 |
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"success_accuracy": 0.8807473679383596,
|
| 129 |
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"total_loss": 1.561984618504842
|
| 130 |
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},
|
| 131 |
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"per_task": {
|
| 132 |
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"LiftPegUpright-v1": {
|
| 133 |
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"action_mse_to_best": 0.5623966725048634,
|
| 134 |
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"expert_success_rate": 0.8584070796460177,
|
| 135 |
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"num_groups": 113,
|
| 136 |
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"oracle_success_rate": 0.9380530973451328,
|
| 137 |
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"policy_expert_regret": 1.090754540620652,
|
| 138 |
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"policy_oracle_regret": 1.1814605609505577,
|
| 139 |
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"policy_rollout_progress": 0.5801568753951418,
|
| 140 |
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"policy_rollout_success_rate": 0.1592920353982301,
|
| 141 |
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"restore_max_error": 2.384185791015625e-07
|
| 142 |
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},
|
| 143 |
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"PickCube-v1": {
|
| 144 |
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"action_mse_to_best": 0.5474449685450805,
|
| 145 |
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"expert_success_rate": 0.9402173913043478,
|
| 146 |
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"num_groups": 184,
|
| 147 |
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"oracle_success_rate": 0.9456521739130435,
|
| 148 |
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"policy_expert_regret": 1.1541079988060317,
|
| 149 |
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"policy_oracle_regret": 1.1541320032809619,
|
| 150 |
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"policy_rollout_progress": 0.5378125531107957,
|
| 151 |
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"policy_rollout_success_rate": 0.2391304347826087,
|
| 152 |
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"restore_max_error": 2.384185791015625e-07
|
| 153 |
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},
|
| 154 |
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"PullCube-v1": {
|
| 155 |
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"action_mse_to_best": 0.7271176308001343,
|
| 156 |
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"expert_success_rate": 0.25,
|
| 157 |
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"num_groups": 76,
|
| 158 |
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|
| 159 |
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"policy_expert_regret": 0.32360691885084014,
|
| 160 |
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| 161 |
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| 162 |
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|
| 163 |
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"restore_max_error": 2.384185791015625e-07
|
| 164 |
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},
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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"num_groups": 111,
|
| 169 |
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"oracle_success_rate": 1.0,
|
| 170 |
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"policy_expert_regret": 0.3500694275439323,
|
| 171 |
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"policy_oracle_regret": 0.4335452922292658,
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| 172 |
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| 173 |
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"policy_rollout_success_rate": 0.7747747747747747,
|
| 174 |
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"restore_max_error": 2.3795291781425476e-07
|
| 175 |
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},
|
| 176 |
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"StackCube-v1": {
|
| 177 |
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|
| 178 |
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|
| 179 |
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"num_groups": 91,
|
| 180 |
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|
| 181 |
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"policy_expert_regret": 1.120737257894579,
|
| 182 |
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|
| 183 |
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| 184 |
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"policy_rollout_success_rate": 0.15384615384615385,
|
| 185 |
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"restore_max_error": 1.9371509552001953e-07
|
| 186 |
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}
|
| 187 |
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}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"seed": 2,
|
| 191 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/retrieval_residual_knn4_v2_rollout.json",
|
| 192 |
+
"num_groups": 575,
|
| 193 |
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"selection_mode": "retrieval_residual",
|
| 194 |
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"num_candidates": 64,
|
| 195 |
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"candidate_sigma": 0.0,
|
| 196 |
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"field_optim_steps": 0,
|
| 197 |
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"field_optim_step_size": 0.0,
|
| 198 |
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"field_optim_trust_radius": 0.0,
|
| 199 |
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"field_optim_l2_penalty": 0.0,
|
| 200 |
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"retrieval_neighbors": 4,
|
| 201 |
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"policy_rollout_success_rate": 0.3182608695652174,
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| 202 |
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| 203 |
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| 204 |
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"action_mse_to_best": 0.6034401398719005,
|
| 205 |
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|
| 206 |
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|
| 207 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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},
|
| 218 |
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"per_task": {
|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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| 223 |
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| 224 |
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|
| 225 |
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| 226 |
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| 227 |
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|
| 228 |
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|
| 229 |
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},
|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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"policy_expert_regret": 1.1163382293995132,
|
| 236 |
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|
| 237 |
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|
| 238 |
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"policy_rollout_success_rate": 0.23737373737373738,
|
| 239 |
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"restore_max_error": 2.384185791015625e-07
|
| 240 |
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},
|
| 241 |
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"PullCube-v1": {
|
| 242 |
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|
| 243 |
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|
| 244 |
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"num_groups": 90,
|
| 245 |
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|
| 246 |
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"policy_expert_regret": 0.2959972145035863,
|
| 247 |
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|
| 248 |
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|
| 249 |
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"policy_rollout_success_rate": 0.2222222222222222,
|
| 250 |
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"restore_max_error": 2.384185791015625e-07
|
| 251 |
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},
|
| 252 |
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"PushCube-v1": {
|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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"oracle_success_rate": 1.0,
|
| 257 |
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"policy_expert_regret": 0.3824794600800713,
|
| 258 |
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"policy_oracle_regret": 0.4372355530757715,
|
| 259 |
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"policy_rollout_progress": 0.7904872192014561,
|
| 260 |
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"policy_rollout_success_rate": 0.7722772277227723,
|
| 261 |
+
"restore_max_error": 2.384185791015625e-07
|
| 262 |
+
},
|
| 263 |
+
"StackCube-v1": {
|
| 264 |
+
"action_mse_to_best": 0.9887788960710168,
|
| 265 |
+
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|
| 266 |
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"num_groups": 90,
|
| 267 |
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"oracle_success_rate": 0.9111111111111111,
|
| 268 |
+
"policy_expert_regret": 1.1929329228070047,
|
| 269 |
+
"policy_oracle_regret": 1.3292692128154966,
|
| 270 |
+
"policy_rollout_progress": 0.4083012744784355,
|
| 271 |
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"policy_rollout_success_rate": 0.14444444444444443,
|
| 272 |
+
"restore_max_error": 2.2351741790771484e-07
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
}
|
| 276 |
+
]
|
| 277 |
+
}
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_v2_summary.md
ADDED
|
@@ -0,0 +1,19 @@
|
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|
|
| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `near_miss_policy_bc5`
|
| 5 |
+
Result file: `retrieval_residual_knn4_v2_rollout.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
|
| 10 |
+
Mean success: 29.91% +/- 2.01%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +0.17%
|
| 12 |
+
Mean progress: 53.40%
|
| 13 |
+
Mean action MSE to best: 0.674
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | retrieval K | sigma | opt steps | trust | success | progress | oracle | action MSE |
|
| 16 |
+
|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 64 | 4 | 0.00 | 0 | 0.00 | 27.83% | 51.09% | 85.74% | 0.812 |
|
| 18 |
+
| 1 | retrieval_residual | 64 | 4 | 0.00 | 0 | 0.00 | 30.09% | 53.80% | 86.96% | 0.607 |
|
| 19 |
+
| 2 | retrieval_residual | 64 | 4 | 0.00 | 0 | 0.00 | 31.83% | 55.30% | 87.65% | 0.603 |
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_v2_summary.json
ADDED
|
@@ -0,0 +1,277 @@
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