Auto-sync: 2026-06-29 01:47:15

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcscorebonus0p015_summary.json

@@ -0,0 +1,322 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "near_miss_policy_bc5",
+  "out_name": "policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcscorebonus0p015.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.35246376811594204,
+  "std_success": 0.014164396200429698,
+  "mean_progress": 0.5668091635216157,
+  "mean_action_mse_to_best": 0.3954103358281587,
+  "gain_vs_h4": 0.055763768115942025,
+  "gain_vs_h16_rank_checkpoint": 0.055072463768115976,
+  "rows": [
+    {
+      "seed": 0,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcscorebonus0p015.json",
+      "num_groups": 575,
+      "selection_mode": "retrieval_residual",
+      "num_candidates": 6,
+      "candidate_sigma": 0.0,
+      "selection_margin": 0.2,
+      "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": 4,
+      "retrieval_metric": "raw",
+      "retrieval_type_min_success": 0.0,
+      "retrieval_residual_min_source_progress": 0.0,
+      "retrieval_residual_source_progress_bonus_scale": 0.0,
+      "retrieval_residual_source_score_bonus_scale": 0.015,
+      "retrieval_residual_scale": 0.4,
+      "retrieval_residual_scales": [],
+      "retrieval_residual_anchor": "expert",
+      "retrieval_residual_reduce": "mean_by_type",
+      "candidate_type_bonuses": {},
+      "selected_residual_scale_counts": {
+        "0.4": 575
+      },
+      "policy_rollout_success_rate": 0.34608695652173915,
+      "policy_rollout_progress": 0.5509786044636175,
+      "oracle_success_rate": 0.8573913043478261,
+      "action_mse_to_best": 0.3816270524878865,
+      "best_policy_val": {
+        "bc_loss": 0.13721593966086706,
+        "field_effect_loss": 0.009290305380192068,
+        "field_potential_loss": 0.2666468388504452,
+        "field_preference_loss": 0.5130573478009965,
+        "lattice_edges": 3833.3333333333335,
+        "progress_mae": 0.1933159919248687,
+        "rank_acc": 0.8265031774838766,
+        "rank_loss": 0.5130523675017886,
+        "regret_mae": 0.3756548762321472,
+        "success_accuracy": 0.8773836526605818,
+        "total_loss": 1.5581054819954767
+      },
+      "per_task": {
+        "LiftPegUpright-v1": {
+          "action_mse_to_best": 0.31969772460726426,
+          "expert_success_rate": 0.8865979381443299,
+          "num_groups": 97,
+          "oracle_success_rate": 0.9278350515463918,
+          "policy_expert_regret": 1.0783334703175063,
+          "policy_oracle_regret": 1.1047489480259491,
+          "policy_rollout_progress": 0.5714634232914325,
+          "policy_rollout_success_rate": 0.2268041237113402,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "PickCube-v1": {
+          "action_mse_to_best": 0.30265718372538686,
+          "expert_success_rate": 0.9375,
+          "num_groups": 208,
+          "oracle_success_rate": 0.9471153846153846,
+          "policy_expert_regret": 0.9612012499800096,
+          "policy_oracle_regret": 0.974624117406515,
+          "policy_rollout_progress": 0.6160653938467686,
+          "policy_rollout_success_rate": 0.34134615384615385,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "PullCube-v1": {
+          "action_mse_to_best": 0.6002476956550177,
+          "expert_success_rate": 0.19480519480519481,
+          "num_groups": 77,
+          "oracle_success_rate": 0.36363636363636365,
+          "policy_expert_regret": 0.246578575468731,
+          "policy_oracle_regret": 0.4201346135625688,
+          "policy_rollout_progress": 0.3096777588649133,
+          "policy_rollout_success_rate": 0.2077922077922078,
+          "restore_max_error": 2.3096799850463867e-07
+        },
+        "PushCube-v1": {
+          "action_mse_to_best": 0.36465501579198434,
+          "expert_success_rate": 0.8617021276595744,
+          "num_groups": 94,
+          "oracle_success_rate": 0.9893617021276596,
+          "policy_expert_regret": 0.5508309629686335,
+          "policy_oracle_regret": 0.647163599729538,
+          "policy_rollout_progress": 0.6932619321853557,
+          "policy_rollout_success_rate": 0.6595744680851063,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.45429835988754275,
+          "expert_success_rate": 0.6767676767676768,
+          "num_groups": 99,
+          "oracle_success_rate": 0.8585858585858586,
+          "policy_expert_regret": 0.9403071221378114,
+          "policy_oracle_regret": 1.10289698026397,
+          "policy_rollout_progress": 0.4467407528198127,
+          "policy_rollout_success_rate": 0.2828282828282828,
+          "restore_max_error": 2.384185791015625e-07
+        }
+      }
+    },
+    {
+      "seed": 1,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcscorebonus0p015.json",
+      "num_groups": 575,
+      "selection_mode": "retrieval_residual",
+      "num_candidates": 6,
+      "candidate_sigma": 0.0,
+      "selection_margin": 0.2,
+      "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": 4,
+      "retrieval_metric": "raw",
+      "retrieval_type_min_success": 0.0,
+      "retrieval_residual_min_source_progress": 0.0,
+      "retrieval_residual_source_progress_bonus_scale": 0.0,
+      "retrieval_residual_source_score_bonus_scale": 0.015,
+      "retrieval_residual_scale": 0.4,
+      "retrieval_residual_scales": [],
+      "retrieval_residual_anchor": "expert",
+      "retrieval_residual_reduce": "mean_by_type",
+      "candidate_type_bonuses": {},
+      "selected_residual_scale_counts": {
+        "0.4": 575
+      },
+      "policy_rollout_success_rate": 0.3426086956521739,
+      "policy_rollout_progress": 0.5665316749817652,
+      "oracle_success_rate": 0.8695652173913043,
+      "action_mse_to_best": 0.38801324410445015,
+      "best_policy_val": {
+        "bc_loss": 0.1315989200439718,
+        "field_effect_loss": 0.010110370814800262,
+        "field_potential_loss": 0.31546536915832096,
+        "field_preference_loss": 0.4960637440284093,
+        "lattice_edges": 3833.3333333333335,
+        "progress_mae": 0.19023226698239645,
+        "rank_acc": 0.8255469501018524,
+        "rank_loss": 0.4960531195004781,
+        "regret_mae": 0.42156532737943864,
+        "success_accuracy": 0.8807473679383596,
+        "total_loss": 1.561984618504842
+      },
+      "per_task": {
+        "LiftPegUpright-v1": {
+          "action_mse_to_best": 0.3255710795406351,
+          "expert_success_rate": 0.8584070796460177,
+          "num_groups": 113,
+          "oracle_success_rate": 0.9380530973451328,
+          "policy_expert_regret": 0.9873926745051831,
+          "policy_oracle_regret": 1.0665947045900126,
+          "policy_rollout_progress": 0.6355170211960784,
+          "policy_rollout_success_rate": 0.23008849557522124,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "PickCube-v1": {
+          "action_mse_to_best": 0.31969962222501636,
+          "expert_success_rate": 0.9402173913043478,
+          "num_groups": 184,
+          "oracle_success_rate": 0.9456521739130435,
+          "policy_expert_regret": 1.0709032043308506,
+          "policy_oracle_regret": 1.0709272088057806,
+          "policy_rollout_progress": 0.5742986448939241,
+          "policy_rollout_success_rate": 0.29347826086956524,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "PullCube-v1": {
+          "action_mse_to_best": 0.5715771112591028,
+          "expert_success_rate": 0.25,
+          "num_groups": 76,
+          "oracle_success_rate": 0.40789473684210525,
+          "policy_expert_regret": 0.30013844498286124,
+          "policy_oracle_regret": 0.5234715515061429,
+          "policy_rollout_progress": 0.28913191000097677,
+          "policy_rollout_success_rate": 0.18421052631578946,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "PushCube-v1": {
+          "action_mse_to_best": 0.35765871029716356,
+          "expert_success_rate": 0.8198198198198198,
+          "num_groups": 111,
+          "oracle_success_rate": 1.0,
+          "policy_expert_regret": 0.32971009934270706,
+          "policy_oracle_regret": 0.38007361851296984,
+          "policy_rollout_progress": 0.8181245796852283,
+          "policy_rollout_success_rate": 0.8018018018018018,
+          "restore_max_error": 2.3795291781425476e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.48739973169106704,
+          "expert_success_rate": 0.6923076923076923,
+          "num_groups": 91,
+          "oracle_success_rate": 0.8571428571428571,
+          "policy_expert_regret": 1.1409930893025555,
+          "policy_oracle_regret": 1.3006549364590383,
+          "policy_rollout_progress": 0.38995039070045556,
+          "policy_rollout_success_rate": 0.15384615384615385,
+          "restore_max_error": 1.9371509552001953e-07
+        }
+      }
+    },
+    {
+      "seed": 2,
+      "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcscorebonus0p015.json",
+      "num_groups": 575,
+      "selection_mode": "retrieval_residual",
+      "num_candidates": 6,
+      "candidate_sigma": 0.0,
+      "selection_margin": 0.2,
+      "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": 4,
+      "retrieval_metric": "raw",
+      "retrieval_type_min_success": 0.0,
+      "retrieval_residual_min_source_progress": 0.0,
+      "retrieval_residual_source_progress_bonus_scale": 0.0,
+      "retrieval_residual_source_score_bonus_scale": 0.015,
+      "retrieval_residual_scale": 0.4,
+      "retrieval_residual_scales": [],
+      "retrieval_residual_anchor": "expert",
+      "retrieval_residual_reduce": "mean_by_type",
+      "candidate_type_bonuses": {},
+      "selected_residual_scale_counts": {
+        "0.4": 575
+      },
+      "policy_rollout_success_rate": 0.36869565217391304,
+      "policy_rollout_progress": 0.5829172111194645,
+      "oracle_success_rate": 0.8765217391304347,
+      "action_mse_to_best": 0.41659071089213956,
+      "best_policy_val": {
+        "bc_loss": 0.11367896075050037,
+        "field_effect_loss": 0.009670218582161598,
+        "field_potential_loss": 0.2641640139950646,
+        "field_preference_loss": 0.5130490180518892,
+        "lattice_edges": 3833.3333333333335,
+        "progress_mae": 0.2021729110015763,
+        "rank_acc": 0.8333857821093665,
+        "rank_loss": 0.5130119257503085,
+        "regret_mae": 0.3958987047274907,
+        "success_accuracy": 0.8680730561415354,
+        "total_loss": 1.4394984311527677
+      },
+      "per_task": {
+        "LiftPegUpright-v1": {
+          "action_mse_to_best": 0.35488338287783944,
+          "expert_success_rate": 0.8229166666666666,
+          "num_groups": 96,
+          "oracle_success_rate": 0.9270833333333334,
+          "policy_expert_regret": 0.8476849501021206,
+          "policy_oracle_regret": 0.9539546399998168,
+          "policy_rollout_progress": 0.6463205499264101,
+          "policy_rollout_success_rate": 0.3333333333333333,
+          "restore_max_error": 1.955777406692505e-07
+        },
+        "PickCube-v1": {
+          "action_mse_to_best": 0.33545475296977195,
+          "expert_success_rate": 0.9444444444444444,
+          "num_groups": 198,
+          "oracle_success_rate": 0.9595959595959596,
+          "policy_expert_regret": 0.9806582634572429,
+          "policy_oracle_regret": 0.9877417139859512,
+          "policy_rollout_progress": 0.6358304502762328,
+          "policy_rollout_success_rate": 0.3383838383838384,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "PullCube-v1": {
+          "action_mse_to_best": 0.6283310380246904,
+          "expert_success_rate": 0.24444444444444444,
+          "num_groups": 90,
+          "oracle_success_rate": 0.4666666666666667,
+          "policy_expert_regret": 0.3140720418619821,
+          "policy_oracle_regret": 0.5426390113998827,
+          "policy_rollout_progress": 0.31892168570862445,
+          "policy_rollout_success_rate": 0.2111111111111111,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "PushCube-v1": {
+          "action_mse_to_best": 0.3851195577495169,
+          "expert_success_rate": 0.8514851485148515,
+          "num_groups": 101,
+          "oracle_success_rate": 1.0,
+          "policy_expert_regret": 0.3620445999768701,
+          "policy_oracle_regret": 0.41694685138098087,
+          "policy_rollout_progress": 0.8008749307972369,
+          "policy_rollout_success_rate": 0.7821782178217822,
+          "restore_max_error": 2.384185791015625e-07
+        },
+        "StackCube-v1": {
+          "action_mse_to_best": 0.4844882684863276,
+          "expert_success_rate": 0.7666666666666667,
+          "num_groups": 90,
+          "oracle_success_rate": 0.9111111111111111,
+          "policy_expert_regret": 1.1607355892658233,
+          "policy_oracle_regret": 1.2970718792743152,
+          "policy_rollout_progress": 0.4182763857973946,
+          "policy_rollout_success_rate": 0.16666666666666666,
+          "restore_max_error": 2.2351741790771484e-07
+        }
+      }
+    }
+  ]
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcscorebonus0p015_summary.md

@@ -0,0 +1,19 @@
+# h=16 Best-Policy Checkpoint Rollout
+
+Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
+Objective: `near_miss_policy_bc5`
+Result file: `policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcscorebonus0p015.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 35.25% +/- 1.42%
+Gain vs h=16 rank checkpoint: +5.51%
+Mean progress: 56.68%
+Mean action MSE to best: 0.395
+
+| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual reduce | min type success | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---|---:|---|---|---|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.000 | 0.015 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 34.61% | 55.10% | 85.74% | 0.382 |
+| 1 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.000 | 0.015 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 34.26% | 56.65% | 86.96% | 0.388 |
+| 2 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.000 | 0.015 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 36.87% | 58.29% | 87.65% | 0.417 |