auto-sync 2026-07-02T14:58:13Z workspace (part 5)

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051833_2.err

@@ -0,0 +1,12 @@
+2026-07-02 10:41:21,130 - 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.
+2026-07-02 10:41:23,118 - 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.
+2026-07-02 10:41:25,167 - 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.
+2026-07-02 10:41:27,227 - 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.
+2026-07-02 10:41:29,298 - 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.
+2026-07-02 10:41:31,411 - 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.
+2026-07-02 10:41:33,455 - 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.
+2026-07-02 10:41:35,545 - 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.
+2026-07-02 10:41:37,630 - 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.
+2026-07-02 10:41:39,650 - 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.
+2026-07-02 10:41:41,702 - 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.
+2026-07-02 10:41:43,791 - 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.

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051833_2.out

@@ -0,0 +1,140 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "zscore",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.01,
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.391304347826087,
+  "policy_rollout_progress": 0.6061248938204802,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8210021198265578,
+  "policy_expert_regret": 0.7611470587114277,
+  "action_mse_to_best": 0.5439947644280999,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
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+      "policy_rollout_success_rate": 0.3645833333333333,
+      "policy_rollout_progress": 0.6576960443829497,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9113291455432773,
+      "policy_expert_regret": 0.8183209470783671,
+      "action_mse_to_best": 0.44746410054115887,
+      "restore_max_error": 1.955777406692505e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.3484848484848485,
+      "policy_rollout_progress": 0.6385950726560421,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 0.9748760815051318,
+      "policy_expert_regret": 0.9677926309764234,
+      "action_mse_to_best": 0.49729833526141715,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.25555555555555554,
+      "policy_rollout_progress": 0.36900863573989934,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.4879133890796867,
+      "policy_expert_regret": 0.34411713575116465,
+      "action_mse_to_best": 0.6874315675761965,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.8118811881188119,
+      "policy_rollout_progress": 0.8296402934754249,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.3584785184057632,
+      "policy_expert_regret": 0.3584785184057632,
+      "action_mse_to_best": 0.5177686682136933,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.17777777777777778,
+      "policy_rollout_progress": 0.4659635826945305,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.2382735712660684,
+      "policy_expert_regret": 1.114454825884766,
+      "action_mse_to_best": 0.6356876549000542,
+      "restore_max_error": 2.2351741790771484e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 194,
+    "retrieval_residual_residual_near_miss": 67,
+    "retrieval_residual_residual_no_op": 69,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 76,
+    "retrieval_residual_residual_wrong_gripper": 169
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 317,
+    "0.45": 191,
+    "0.4": 67
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051834_0.err

@@ -0,0 +1,10 @@
+2026-07-02 10:41:33,794 - 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.
+2026-07-02 10:41:35,909 - 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.
+2026-07-02 10:41:37,999 - 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.
+2026-07-02 10:41:40,237 - 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.
+2026-07-02 10:41:42,373 - 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.
+2026-07-02 10:41:44,509 - 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.
+2026-07-02 10:41:46,638 - 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.
+2026-07-02 10:41:48,795 - 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.
+2026-07-02 10:41:50,933 - 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.
+2026-07-02 10:41:53,077 - 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.

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051834_0.out

@@ -0,0 +1,140 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "task_relative",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.01,
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.3739130434782609,
+  "policy_rollout_progress": 0.5859811081583409,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.8398634216570012,
+  "policy_expert_regret": 0.7688155430709215,
+  "action_mse_to_best": 0.4960412207715537,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.2268041237113402,
+      "policy_rollout_progress": 0.5715128928422928,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.104699478475089,
+      "policy_expert_regret": 1.078284000766646,
+      "action_mse_to_best": 0.3438506922636604,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.375,
+      "policy_rollout_progress": 0.641764496300871,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 0.9152711687985664,
+      "policy_expert_regret": 0.908604594744527,
+      "action_mse_to_best": 0.46656056665457213,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.22077922077922077,
+      "policy_rollout_progress": 0.3286020585771215,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.4569121295066139,
+      "policy_expert_regret": 0.2681577504588315,
+      "action_mse_to_best": 0.632325976119413,
+      "restore_max_error": 2.3096799850463867e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7340425531914894,
+      "policy_rollout_progress": 0.7513219533448524,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.5146354934636582,
+      "policy_expert_regret": 0.4561503028615992,
+      "action_mse_to_best": 0.46895278633591975,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.29292929292929293,
+      "policy_rollout_progress": 0.5261489821202827,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.0285984300302737,
+      "policy_expert_regret": 0.8581753356589211,
+      "action_mse_to_best": 0.6268174227590513,
+      "restore_max_error": 2.384185791015625e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 189,
+    "retrieval_residual_residual_near_miss": 65,
+    "retrieval_residual_residual_wrong_gripper": 166,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 96,
+    "retrieval_residual_residual_no_op": 59
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 319,
+    "0.45": 186,
+    "0.4": 70
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051834_1.err

@@ -0,0 +1,10 @@
+2026-07-02 10:41:24,273 - 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.
+2026-07-02 10:41:26,327 - 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.
+2026-07-02 10:41:28,420 - 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.
+2026-07-02 10:41:30,483 - 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.
+2026-07-02 10:41:32,535 - 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.
+2026-07-02 10:41:34,668 - 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.
+2026-07-02 10:41:36,767 - 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.
+2026-07-02 10:41:38,872 - 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.
+2026-07-02 10:41:40,919 - 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.
+2026-07-02 10:41:43,002 - 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/dovla_ms_policy_rollout_15051834_1.out

@@ -0,0 +1,140 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "task_relative",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.01,
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.35478260869565215,
+  "policy_rollout_progress": 0.5724870564092113,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8782342583475553,
+  "policy_expert_regret": 0.8009774848316674,
+  "action_mse_to_best": 0.5053197572339813,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.24778761061946902,
+      "policy_rollout_progress": 0.6366955052434871,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.047717105498356,
+      "policy_expert_regret": 0.968556373520235,
+      "action_mse_to_best": 0.4109904438677549,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.2717391304347826,
+      "policy_rollout_progress": 0.5621739127167055,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.0972382092504236,
+      "policy_expert_regret": 1.089701304283074,
+      "action_mse_to_best": 0.4489570604637265,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.18421052631578946,
+      "policy_rollout_progress": 0.29346823355330054,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.5195493033817528,
+      "policy_expert_regret": 0.2960355247885577,
+      "action_mse_to_best": 0.6314871114139494,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8378378378378378,
+      "policy_rollout_progress": 0.8479221622954618,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.31423999986670037,
+      "policy_expert_regret": 0.28062590352586797,
+      "action_mse_to_best": 0.42584498293764955,
+      "restore_max_error": 2.3795291781425476e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.2087912087912088,
+      "policy_rollout_progress": 0.41066505096770906,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.212466462464123,
+      "policy_expert_regret": 1.0655161363410426,
+      "action_mse_to_best": 0.7279893137760215,
+      "restore_max_error": 1.9371509552001953e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 177,
+    "retrieval_residual_residual_near_miss": 68,
+    "retrieval_residual_residual_no_op": 149,
+    "retrieval_residual_residual_wrong_gripper": 106,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 75
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 288,
+    "0.45": 237,
+    "0.4": 50
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051834_2.err

@@ -0,0 +1,12 @@
+2026-07-02 10:41:40,423 - 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.
+2026-07-02 10:41:42,610 - 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.
+2026-07-02 10:41:44,844 - 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.
+2026-07-02 10:41:47,122 - 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.
+2026-07-02 10:41:49,383 - 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.
+2026-07-02 10:41:51,747 - 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.
+2026-07-02 10:41:53,970 - 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.
+2026-07-02 10:41:56,293 - 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.
+2026-07-02 10:41:58,536 - 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.
+2026-07-02 10:42:00,768 - 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.
+2026-07-02 10:42:03,009 - 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.
+2026-07-02 10:42:05,329 - 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/dovla_ms_policy_rollout_15051834_2.out

@@ -0,0 +1,140 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "task_relative",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.01,
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.38782608695652177,
+  "policy_rollout_progress": 0.5961601831666802,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8294620852561101,
+  "policy_expert_regret": 0.7500645178718411,
+  "action_mse_to_best": 0.533600711837087,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.3645833333333333,
+      "policy_rollout_progress": 0.6580991436106464,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9109260463155806,
+      "policy_expert_regret": 0.8179064658470452,
+      "action_mse_to_best": 0.4306636511561616,
+      "restore_max_error": 1.955777406692505e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.35353535353535354,
+      "policy_rollout_progress": 0.6337008711722012,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 0.9747197779384676,
+      "policy_expert_regret": 0.9676363274097594,
+      "action_mse_to_best": 0.5025136812467768,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.23333333333333334,
+      "policy_rollout_progress": 0.34372065288739073,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.4993719957975878,
+      "policy_expert_regret": 0.31186816998653943,
+      "action_mse_to_best": 0.6643689109219445,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.801980198019802,
+      "policy_rollout_progress": 0.8180868756948131,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.3799329262853849,
+      "policy_expert_regret": 0.30721950855585606,
+      "action_mse_to_best": 0.5080124131671273,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.17777777777777778,
+      "policy_rollout_progress": 0.4508909093009101,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.2575619707504908,
+      "policy_expert_regret": 1.134208650721444,
+      "action_mse_to_best": 0.6097392688401871,
+      "restore_max_error": 2.2351741790771484e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 187,
+    "retrieval_residual_residual_near_miss": 80,
+    "retrieval_residual_residual_no_op": 80,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 80,
+    "retrieval_residual_residual_wrong_gripper": 148
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 296,
+    "0.45": 204,
+    "0.4": 75
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051835_0.err

@@ -0,0 +1,10 @@
+2026-07-02 10:41:37,160 - 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.
+2026-07-02 10:41:39,280 - 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.
+2026-07-02 10:41:41,456 - 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.
+2026-07-02 10:41:43,630 - 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.
+2026-07-02 10:41:45,785 - 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.
+2026-07-02 10:41:47,948 - 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.
+2026-07-02 10:41:50,146 - 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.
+2026-07-02 10:41:52,321 - 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.
+2026-07-02 10:41:54,502 - 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.
+2026-07-02 10:41:56,662 - 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/dovla_ms_policy_rollout_15051835_0.out

@@ -0,0 +1,140 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "task_relative_zscore",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.01,
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.3565217391304348,
+  "policy_rollout_progress": 0.5738849096746771,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.8687560890257136,
+  "policy_expert_regret": 0.7932723212434971,
+  "action_mse_to_best": 0.4926190784978478,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
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+      "policy_rollout_success_rate": 0.2268041237113402,
+      "policy_rollout_progress": 0.5715128897698885,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.1046994815474933,
+      "policy_expert_regret": 1.0782840038390504,
+      "action_mse_to_best": 0.340019617008871,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.3317307692307692,
+      "policy_rollout_progress": 0.6105592753469514,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 0.9897456205217168,
+      "policy_expert_regret": 0.9763227530952113,
+      "action_mse_to_best": 0.4601181654008822,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.2077922077922078,
+      "policy_rollout_progress": 0.3176867231350942,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.48080125034903176,
+      "policy_expert_regret": 0.2693978397817466,
+      "action_mse_to_best": 0.6306563861571349,
+      "restore_max_error": 2.3096799850463867e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7446808510638298,
+      "policy_rollout_progress": 0.7607917595416942,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.49452738939447605,
+      "policy_expert_regret": 0.436042198792417,
+      "action_mse_to_best": 0.4702776832941999,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.2828282828282828,
+      "policy_rollout_progress": 0.5209539434825531,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.040449914456618,
+      "policy_expert_regret": 0.8760737712034071,
+      "action_mse_to_best": 0.6242711608006497,
+      "restore_max_error": 2.384185791015625e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 195,
+    "retrieval_residual_residual_wrong_gripper": 164,
+    "retrieval_residual_residual_near_miss": 67,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 91,
+    "retrieval_residual_residual_no_op": 58
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 329,
+    "0.45": 186,
+    "0.4": 60
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051835_1.err

@@ -0,0 +1,10 @@
+2026-07-02 10:41:34,846 - 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.
+2026-07-02 10:41:36,869 - 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.
+2026-07-02 10:41:39,023 - 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.
+2026-07-02 10:41:41,125 - 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.
+2026-07-02 10:41:43,213 - 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.
+2026-07-02 10:41:45,381 - 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.
+2026-07-02 10:41:47,496 - 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.
+2026-07-02 10:41:49,627 - 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.
+2026-07-02 10:41:51,683 - 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.
+2026-07-02 10:41:53,801 - 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/dovla_ms_policy_rollout_15051835_1.out

@@ -0,0 +1,140 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "task_relative_zscore",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.01,
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.36,
+  "policy_rollout_progress": 0.5792882018633511,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8705342907620512,
+  "policy_expert_regret": 0.7923323147581971,
+  "action_mse_to_best": 0.5073619219069572,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.24778761061946902,
+      "policy_rollout_progress": 0.6366504776266824,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.0477621331151608,
+      "policy_expert_regret": 0.9685817305493144,
+      "action_mse_to_best": 0.4108842911602583,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.28804347826086957,
+      "policy_rollout_progress": 0.5764021896655954,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.0742584466428051,
+      "policy_expert_regret": 1.0667215416754556,
+      "action_mse_to_best": 0.4507029051689998,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.18421052631578946,
+      "policy_rollout_progress": 0.2944453668192421,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.5179581383586322,
+      "policy_expert_regret": 0.27225225989853863,
+      "action_mse_to_best": 0.6240704349781337,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8378378378378378,
+      "policy_rollout_progress": 0.8483860777305053,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.31377608443165683,
+      "policy_expert_regret": 0.2802314224006893,
+      "action_mse_to_best": 0.42836992536579166,
+      "restore_max_error": 2.3795291781425476e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.2087912087912088,
+      "policy_rollout_progress": 0.4235440296131176,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.2121162426013212,
+      "policy_expert_regret": 1.077667276119138,
+      "action_mse_to_best": 0.7406091304434524,
+      "restore_max_error": 1.9371509552001953e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 177,
+    "retrieval_residual_residual_near_miss": 67,
+    "retrieval_residual_residual_no_op": 148,
+    "retrieval_residual_residual_wrong_gripper": 108,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 75
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 289,
+    "0.45": 236,
+    "0.4": 50
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15051835_2.err

@@ -0,0 +1,12 @@
+2026-07-02 10:41:32,744 - 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.
+2026-07-02 10:41:34,769 - 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.
+2026-07-02 10:41:36,866 - 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.
+2026-07-02 10:41:38,982 - 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.
+2026-07-02 10:41:41,084 - 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.
+2026-07-02 10:41:43,194 - 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.
+2026-07-02 10:41:45,229 - 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.
+2026-07-02 10:41:47,324 - 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.
+2026-07-02 10:41:49,376 - 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.
+2026-07-02 10:41:51,421 - 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.
+2026-07-02 10:41:53,464 - 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.
+2026-07-02 10:41:55,581 - 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/dovla_ms_policy_rollout_15051835_2.out

@@ -0,0 +1,140 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "task_relative_zscore",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.01,
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.39304347826086955,
+  "policy_rollout_progress": 0.6014707674037503,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.821329106984903,
+  "policy_expert_regret": 0.74647649254002,
+  "action_mse_to_best": 0.5326611640579675,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.3645833333333333,
+      "policy_rollout_progress": 0.6570220043261846,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9120031856000423,
+      "policy_expert_regret": 0.8189836051315069,
+      "action_mse_to_best": 0.4301719583551555,
+      "restore_max_error": 1.955777406692505e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.3434343434343434,
+      "policy_rollout_progress": 0.636241103917586,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 0.9822805552940929,
+      "policy_expert_regret": 0.9751971047653845,
+      "action_mse_to_best": 0.49772106083768486,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.24444444444444444,
+      "policy_rollout_progress": 0.35522911733844215,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.49626951777479716,
+      "policy_expert_regret": 0.3101457569644683,
+      "action_mse_to_best": 0.6605500661664538,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.8415841584158416,
+      "policy_rollout_progress": 0.8547253524607951,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.3036904891233633,
+      "policy_expert_regret": 0.26736475010909655,
+      "action_mse_to_best": 0.5114603226285169,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.17777777777777778,
+      "policy_rollout_progress": 0.427755101190673,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.2764820527699259,
+      "policy_expert_regret": 1.1399508054057756,
+      "action_mse_to_best": 0.6147543638323744,
+      "restore_max_error": 2.2351741790771484e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 185,
+    "retrieval_residual_residual_near_miss": 82,
+    "retrieval_residual_residual_no_op": 79,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 79,
+    "retrieval_residual_residual_wrong_gripper": 150
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 300,
+    "0.45": 195,
+    "0.4": 80
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15052455_0.err

@@ -0,0 +1,10 @@
+2026-07-02 10:53:19,226 - 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.
+2026-07-02 10:53:21,232 - 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.
+2026-07-02 10:53:23,252 - 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.
+2026-07-02 10:53:25,351 - 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.
+2026-07-02 10:53:27,394 - 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.
+2026-07-02 10:53:29,464 - 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.
+2026-07-02 10:53:31,524 - 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.
+2026-07-02 10:53:33,656 - 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.
+2026-07-02 10:53:35,699 - 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.
+2026-07-02 10:53:37,801 - 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/dovla_ms_policy_rollout_15052455_0.out

@@ -0,0 +1,145 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
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+  "policy_rollout_progress": 0.5869067004063855,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.8322892324432083,
+  "policy_expert_regret": 0.7659966154558503,
+  "action_mse_to_best": 0.4981627210083863,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
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+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.1046069195282828,
+      "policy_expert_regret": 1.07819144181984,
+      "action_mse_to_best": 0.33983143654258285,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.3605769230769231,
+      "policy_rollout_progress": 0.6223857593991292,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 0.9490729826233851,
+      "policy_expert_regret": 0.9422954545230963,
+      "action_mse_to_best": 0.46344211518477935,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.2597402597402597,
+      "policy_rollout_progress": 0.36198321732317473,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.383972076118573,
+      "policy_expert_regret": 0.2165840214432834,
+      "action_mse_to_best": 0.6133117520963991,
+      "restore_max_error": 2.3096799850463867e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7659574468085106,
+      "policy_rollout_progress": 0.7794892613558059,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.4349256801478406,
+      "policy_expert_regret": 0.37636212211974124,
+      "action_mse_to_best": 0.5042698027447183,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.2828282828282828,
+      "policy_rollout_progress": 0.5194412894321211,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.0460948816152533,
+      "policy_expert_regret": 0.8869800036302721,
+      "action_mse_to_best": 0.6308847364376892,
+      "restore_max_error": 2.384185791015625e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 216,
+    "retrieval_residual_residual_wrong_gripper": 173,
+    "retrieval_residual_residual_near_miss": 57,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 77,
+    "retrieval_residual_residual_no_op": 52
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 336,
+    "0.45": 152,
+    "0.4": 87
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15052455_1.err

@@ -0,0 +1,10 @@
+2026-07-02 10:53:14,362 - 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.
+2026-07-02 10:53:16,346 - 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.
+2026-07-02 10:53:18,484 - 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.
+2026-07-02 10:53:20,560 - 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.
+2026-07-02 10:53:22,648 - 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.
+2026-07-02 10:53:24,766 - 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.
+2026-07-02 10:53:26,870 - 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.
+2026-07-02 10:53:28,958 - 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.
+2026-07-02 10:53:31,013 - 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.
+2026-07-02 10:53:33,120 - 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/dovla_ms_policy_rollout_15052455_1.out

@@ -0,0 +1,145 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.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": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.3791304347826087,
+  "policy_rollout_progress": 0.5928394121466124,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8328630763016965,
+  "policy_expert_regret": 0.7627379327866695,
+  "action_mse_to_best": 0.5139227381794025,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
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+      "policy_rollout_success_rate": 0.22123893805309736,
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+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.0707513929995816,
+      "policy_expert_regret": 0.9912996379147588,
+      "action_mse_to_best": 0.4174908100528461,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.32608695652173914,
+      "policy_rollout_progress": 0.5804765945067629,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.032140563540768,
+      "policy_expert_regret": 1.0321165590658379,
+      "action_mse_to_best": 0.4553744464950717,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
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+      "policy_rollout_success_rate": 0.2236842105263158,
+      "policy_rollout_progress": 0.34068188899637836,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.4112854622990677,
+      "policy_expert_regret": 0.21536361078094496,
+      "action_mse_to_best": 0.6725145407805317,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8558558558558559,
+      "policy_rollout_progress": 0.8655900343044384,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.27855410983970574,
+      "policy_expert_regret": 0.26138654270687617,
+      "action_mse_to_best": 0.4303124049628103,
+      "restore_max_error": 2.3795291781425476e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.23076923076923078,
+      "policy_rollout_progress": 0.4509317398398787,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.162750510396538,
+      "policy_expert_regret": 1.0029281839564606,
+      "action_mse_to_best": 0.7215871726582338,
+      "restore_max_error": 1.9371509552001953e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 190,
+    "retrieval_residual_residual_near_miss": 72,
+    "retrieval_residual_residual_no_op": 113,
+    "retrieval_residual_residual_wrong_gripper": 135,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 65
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 313,
+    "0.4": 46,
+    "0.45": 216
+  }
+}

workspace/outputs/hpc/logs/dovla_ms_policy_rollout_15052455_2.err

@@ -0,0 +1,12 @@
+2026-07-02 10:53:14,826 - 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.
+2026-07-02 10:53:16,906 - 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.
+2026-07-02 10:53:19,027 - 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.
+2026-07-02 10:53:21,076 - 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.
+2026-07-02 10:53:23,184 - 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.
+2026-07-02 10:53:25,259 - 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.
+2026-07-02 10:53:27,304 - 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.
+2026-07-02 10:53:32,314 - 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.
+2026-07-02 10:53:39,383 - 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.
+2026-07-02 10:53:41,430 - 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.
+2026-07-02 10:53:43,478 - 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.
+2026-07-02 10:53:45,604 - 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/dovla_ms_policy_rollout_15052455_2.out

@@ -0,0 +1,145 @@
+{
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+}