Auto-sync: 2026-06-27 18:32:13

results/h16_field_optim_near_miss_policy_bc5_bestpt_s4_trust05_afterany_summary.json

@@ -0,0 +1,746 @@
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+        },
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+          "restore_max_error": 3.948807716369629e-07
+        }
+      }
+    },
+    {
+      "config": "k8_sigma0.20",
+      "seed": 0,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_0/online_rollout.json",
+      "selection_mode": "field_optim",
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+        },
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+        },
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+          "restore_max_error": 4.76837158203125e-07
+        },
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+          "policy_rollout_success_rate": 0.7446808510638298,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "StackCube-v1": {
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+          "policy_rollout_success_rate": 0.18181818181818182,
+          "restore_max_error": 3.948807716369629e-07
+        }
+      }
+    },
+    {
+      "config": "k8_sigma0.20",
+      "seed": 1,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_1/online_rollout.json",
+      "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,
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+      "oracle_success_rate": 0.8695652173913043,
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+          "restore_max_error": 4.76837158203125e-07
+        },
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+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PullCube-v1": {
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+          "oracle_success_rate": 0.40789473684210525,
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+          "restore_max_error": 3.948807716369629e-07
+        }
+      }
+    },
+    {
+      "config": "k8_sigma0.20",
+      "seed": 2,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_2/online_rollout.json",
+      "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,
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+          "policy_oracle_regret": 1.0896811264877517,
+          "policy_rollout_progress": 0.6431976957246661,
+          "policy_rollout_success_rate": 0.1875,
+          "restore_max_error": 3.5762786865234375e-07
+        },
+        "PickCube-v1": {
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+          "oracle_success_rate": 0.9595959595959596,
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+          "restore_max_error": 4.76837158203125e-07
+        },
+        "PullCube-v1": {
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+          "restore_max_error": 4.0978193283081055e-07
+        },
+        "PushCube-v1": {
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+          "oracle_success_rate": 1.0,
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+          "policy_rollout_success_rate": 0.7821782178217822,
+          "restore_max_error": 4.76837158203125e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.4941294732193152,
+          "expert_success_rate": 0.7666666666666667,
+          "num_groups": 90,
+          "oracle_success_rate": 0.9111111111111111,
+          "policy_expert_regret": 1.3245210293266507,
+          "policy_oracle_regret": 1.4733497116300796,
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+          "restore_max_error": 4.76837158203125e-07
+        }
+      }
+    }
+  ]
+}

results/h16_field_optim_near_miss_policy_bc5_bestpt_s4_trust05_afterany_summary.md

@@ -0,0 +1,18 @@
+# h=16 Field-Guided Rollout Sweep
+
+Result root: `/scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05`
+Completed result files: 9
+Baseline h=4 policy success: 29.67%
+Baseline h=16 policy success: 29.74%
+
+| config | seeds | mean success | gain vs h=16 | progress | action MSE |
+|---|---:|---:|---:|---:|---:|
+| k32_sigma0.50 | 1 | 25.39% | -4.35% | 53.65% | 0.391 |
+| k1_sigma0.00 | 2 | 24.61% | -5.13% | 53.27% | 0.398 |
+| k16_sigma0.35 | 3 | 24.23% | -5.51% | 52.37% | 0.406 |
+| k8_sigma0.20 | 3 | 24.12% | -5.62% | 52.37% | 0.404 |
+
+Best config:
+- k32_sigma0.50
+- mean success: 25.39%
+- gain vs h=16 policy: -4.35%

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_summary.json

@@ -0,0 +1,15 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "near_miss_policy_bc5",
+  "out_name": "retrieval_residual_knn4_rollout.json",
+  "num_completed": 0,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.0,
+  "std_success": 0.0,
+  "mean_progress": 0.0,
+  "mean_action_mse_to_best": 0.0,
+  "gain_vs_h4": 0.0,
+  "gain_vs_h16_rank_checkpoint": 0.0,
+  "rows": []
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_summary.md

@@ -0,0 +1,16 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `retrieval_residual_knn4_rollout.json`
+Completed seeds: 0
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 0.00% +/- 0.00%
+Gain vs h=16 rank checkpoint: +0.00%
+Mean progress: 0.00%
+Mean action MSE to best: 0.000
+
+| seed | mode | k | retrieval K | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_summary.json

@@ -0,0 +1,15 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "near_miss_policy_bc5",
+  "out_name": "retrieval_residual_rollout.json",
+  "num_completed": 0,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.0,
+  "std_success": 0.0,
+  "mean_progress": 0.0,
+  "mean_action_mse_to_best": 0.0,
+  "gain_vs_h4": 0.0,
+  "gain_vs_h16_rank_checkpoint": 0.0,
+  "rows": []
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_summary.md

@@ -0,0 +1,16 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `retrieval_residual_rollout.json`
+Completed seeds: 0
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 0.00% +/- 0.00%
+Gain vs h=16 rank checkpoint: +0.00%
+Mean progress: 0.00%
+Mean action MSE to best: 0.000
+
+| seed | mode | k | retrieval K | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|