auto-sync 2026-07-02T16:56:12Z workspace (part 5)
Browse files- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025_summary.json +577 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025_summary.md +19 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005_summary.json +577 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005_summary.md +19 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010_summary.json +577 -0
- workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010_summary.md +19 -0
- workspace/results/paper_analysis.json +274 -7
- workspace/results/paper_analysis.md +4 -4
- workspace/results/paper_table_status.json +21 -21
- workspace/results/paper_table_status.md +3 -3
- workspace/scripts/build_paper_table_status.py +3 -3
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025_summary.json
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| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1",
|
| 4 |
+
"out_name": "policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025.json",
|
| 5 |
+
"num_completed": 3,
|
| 6 |
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"baseline_h4_policy_success": 0.2967,
|
| 7 |
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"baseline_h16_rank_checkpoint_success": 0.29739130434782607,
|
| 8 |
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"mean_success": 0.3884057971014493,
|
| 9 |
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"std_success": 0.01759303293390554,
|
| 10 |
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"mean_progress": 0.5993607256448139,
|
| 11 |
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"mean_action_mse_to_best": 0.5128867500585814,
|
| 12 |
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"gain_vs_h4": 0.09170579710144927,
|
| 13 |
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"gain_vs_h16_rank_checkpoint": 0.09101449275362322,
|
| 14 |
+
"rows": [
|
| 15 |
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{
|
| 16 |
+
"seed": 0,
|
| 17 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025.json",
|
| 18 |
+
"num_groups": 575,
|
| 19 |
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"selection_mode": "retrieval_residual",
|
| 20 |
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"num_candidates": 48,
|
| 21 |
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"candidate_sigma": 0.0,
|
| 22 |
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"proposal_types": [],
|
| 23 |
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"proposal_lattice_types": [],
|
| 24 |
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"selection_margin": 0.0,
|
| 25 |
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"prepend_policy_candidate": false,
|
| 26 |
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"field_optim_steps": 0,
|
| 27 |
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"field_optim_step_size": 0.0,
|
| 28 |
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"field_optim_trust_radius": 0.0,
|
| 29 |
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"field_optim_l2_penalty": 0.0,
|
| 30 |
+
"retrieval_neighbors": 6,
|
| 31 |
+
"retrieval_metric": "raw",
|
| 32 |
+
"retrieval_type_min_success": 0.0,
|
| 33 |
+
"retrieval_type_success_bonus_scale": 0.0,
|
| 34 |
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"retrieval_residual_consensus_penalty_scale": 0.0,
|
| 35 |
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"retrieval_residual_min_source_progress": 0.0,
|
| 36 |
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"retrieval_residual_min_source_advantage": -1000000000.0,
|
| 37 |
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"retrieval_residual_source_progress_bonus_scale": 0.0,
|
| 38 |
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"retrieval_residual_source_score_bonus_scale": 0.0,
|
| 39 |
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"retrieval_residual_source_advantage_bonus_scale": 0.0,
|
| 40 |
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"retrieval_residual_composite_l2_penalty_scale": 0.0,
|
| 41 |
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"retrieval_residual_scale": 1.0,
|
| 42 |
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"retrieval_residual_scales": [
|
| 43 |
+
0.35,
|
| 44 |
+
0.4,
|
| 45 |
+
0.45
|
| 46 |
+
],
|
| 47 |
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"retrieval_residual_anchor": "expert",
|
| 48 |
+
"retrieval_residual_direction": "candidate_minus_anchor",
|
| 49 |
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"retrieval_residual_reduce": "compose_mean_by_type",
|
| 50 |
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"retrieval_residual_challenger_types": [],
|
| 51 |
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"retrieval_residual_challenger_scales": [],
|
| 52 |
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"retrieval_residual_challenger_margin": 0.0,
|
| 53 |
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"retrieval_residual_challenger_type_margins": {},
|
| 54 |
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"retrieval_residual_challenger_tasks": [],
|
| 55 |
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"retrieval_residual_challenger_type_tasks": {},
|
| 56 |
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"lattice_exclude_types": [
|
| 57 |
+
"residual_random_negative",
|
| 58 |
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"residual_wrong_direction",
|
| 59 |
+
"residual_near_miss+residual_no_op",
|
| 60 |
+
"residual_no_op+residual_wrong_gripper"
|
| 61 |
+
],
|
| 62 |
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"lattice_exclude_type_tasks": {},
|
| 63 |
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"candidate_type_bonuses": {},
|
| 64 |
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"candidate_type_bonuses_by_task": {},
|
| 65 |
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"residual_scale_bonuses_by_task": {
|
| 66 |
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"*": {
|
| 67 |
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"0.35": -9.674979510607974e-05,
|
| 68 |
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"0.4": 0.0003106990953088251,
|
| 69 |
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"0.45": -0.00016780893426614763
|
| 70 |
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},
|
| 71 |
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"LiftPegUpright-v1": {
|
| 72 |
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"0.35": -8.968927557415074e-05,
|
| 73 |
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"0.4": -0.0003124815588572361,
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| 74 |
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"0.45": 0.0005748239586551157
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| 75 |
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},
|
| 76 |
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"PickCube-v1": {
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| 77 |
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"0.35": -0.00016158133519031948,
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| 78 |
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"0.4": 0.00011917837628256934,
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| 79 |
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"0.45": 0.00015914294978351952
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| 80 |
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},
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| 81 |
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"PullCube-v1": {
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| 82 |
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"0.35": -0.0005339817564724847,
|
| 83 |
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"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025.json",
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"num_groups": 575,
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0.35,
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0.45
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],
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"retrieval_residual_anchor": "expert",
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"retrieval_residual_direction": "candidate_minus_anchor",
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| 423 |
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"retrieval_residual_reduce": "compose_mean_by_type",
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| 424 |
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"retrieval_residual_challenger_types": [],
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| 425 |
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| 429 |
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| 430 |
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"lattice_exclude_types": [
|
| 431 |
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"residual_random_negative",
|
| 432 |
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"residual_wrong_direction",
|
| 433 |
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"residual_near_miss+residual_no_op",
|
| 434 |
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"residual_no_op+residual_wrong_gripper"
|
| 435 |
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],
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| 436 |
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| 437 |
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"*": {
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| 464 |
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},
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| 466 |
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| 469 |
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}
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| 470 |
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},
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| 471 |
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| 472 |
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| 479 |
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|
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| 481 |
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|
| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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|
| 486 |
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| 487 |
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"candidate_oracle_branch_progress": [],
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| 488 |
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|
| 489 |
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| 490 |
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| 491 |
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| 492 |
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"0.35": 165
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| 514 |
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| 515 |
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| 516 |
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| 517 |
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},
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| 518 |
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| 519 |
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| 520 |
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|
| 562 |
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},
|
| 563 |
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| 564 |
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| 566 |
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|
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|
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|
| 569 |
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|
| 570 |
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| 571 |
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|
| 572 |
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"restore_max_error": 2.2351741790771484e-07
|
| 573 |
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}
|
| 574 |
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}
|
| 575 |
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}
|
| 576 |
+
]
|
| 577 |
+
}
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025_summary.md
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1`
|
| 5 |
+
Result file: `policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
|
| 10 |
+
Mean success: 38.84% +/- 1.76%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +9.10%
|
| 12 |
+
Mean progress: 59.94%
|
| 13 |
+
Mean action MSE to best: 0.513
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual direction | residual reduce | min type success | type success bonus | consensus penalty | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | candidate oracle | oracle gain | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---|---:|---:|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 37.74% | 58.71% | 85.74% | n/a | n/a | 0.498 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 37.91% | 59.28% | 86.96% | n/a | n/a | 0.514 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 40.87% | 61.82% | 87.65% | n/a | n/a | 0.527 |
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005_summary.json
ADDED
|
@@ -0,0 +1,577 @@
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| 1 |
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| 2 |
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|
| 490 |
+
"0.45": 283,
|
| 491 |
+
"0.4": 133,
|
| 492 |
+
"0.35": 159
|
| 493 |
+
},
|
| 494 |
+
"policy_rollout_success_rate": 0.40695652173913044,
|
| 495 |
+
"policy_rollout_progress": 0.6168071810204697,
|
| 496 |
+
"oracle_success_rate": 0.8765217391304347,
|
| 497 |
+
"action_mse_to_best": 0.5275281283631921,
|
| 498 |
+
"best_policy_val": {
|
| 499 |
+
"bc_loss": 0.2974168997671869,
|
| 500 |
+
"field_effect_loss": 0.009809228720971279,
|
| 501 |
+
"field_potential_loss": 0.29470594475666684,
|
| 502 |
+
"field_preference_loss": 0.5080636441707611,
|
| 503 |
+
"lattice_edges": 3833.3333333333335,
|
| 504 |
+
"progress_mae": 0.1944621221886741,
|
| 505 |
+
"proposal_loss": 0.0,
|
| 506 |
+
"rank_acc": 0.8252745270729065,
|
| 507 |
+
"rank_loss": 0.5080037944846683,
|
| 508 |
+
"regret_mae": 0.3989163488149643,
|
| 509 |
+
"success_accuracy": 0.870691223276986,
|
| 510 |
+
"total_loss": 0.2595750474267536,
|
| 511 |
+
"transport_field_candidates": 0.0,
|
| 512 |
+
"transport_field_edges": 0.0,
|
| 513 |
+
"transport_field_loss": 0.0,
|
| 514 |
+
"transport_field_potential_loss": 0.0,
|
| 515 |
+
"transport_field_preference_loss": 0.0,
|
| 516 |
+
"transport_field_rank_acc": 0.0
|
| 517 |
+
},
|
| 518 |
+
"per_task": {
|
| 519 |
+
"LiftPegUpright-v1": {
|
| 520 |
+
"action_mse_to_best": 0.44695540916291066,
|
| 521 |
+
"expert_success_rate": 0.8229166666666666,
|
| 522 |
+
"num_groups": 96,
|
| 523 |
+
"oracle_success_rate": 0.9270833333333334,
|
| 524 |
+
"policy_expert_regret": 0.8176391956706842,
|
| 525 |
+
"policy_oracle_regret": 0.9106746912002563,
|
| 526 |
+
"policy_rollout_progress": 0.6583504987259706,
|
| 527 |
+
"policy_rollout_success_rate": 0.3645833333333333,
|
| 528 |
+
"restore_max_error": 1.955777406692505e-07
|
| 529 |
+
},
|
| 530 |
+
"PickCube-v1": {
|
| 531 |
+
"action_mse_to_best": 0.4659398831238951,
|
| 532 |
+
"expert_success_rate": 0.9444444444444444,
|
| 533 |
+
"num_groups": 198,
|
| 534 |
+
"oracle_success_rate": 0.9595959595959596,
|
| 535 |
+
"policy_expert_regret": 0.9609504700591317,
|
| 536 |
+
"policy_oracle_regret": 0.9680339205878401,
|
| 537 |
+
"policy_rollout_progress": 0.6383041575870881,
|
| 538 |
+
"policy_rollout_success_rate": 0.3484848484848485,
|
| 539 |
+
"restore_max_error": 2.384185791015625e-07
|
| 540 |
+
},
|
| 541 |
+
"PullCube-v1": {
|
| 542 |
+
"action_mse_to_best": 0.6718037481109301,
|
| 543 |
+
"expert_success_rate": 0.24444444444444444,
|
| 544 |
+
"num_groups": 90,
|
| 545 |
+
"oracle_success_rate": 0.4666666666666667,
|
| 546 |
+
"policy_expert_regret": 0.30672622924256654,
|
| 547 |
+
"policy_oracle_regret": 0.4515341889630589,
|
| 548 |
+
"policy_rollout_progress": 0.3762278470624652,
|
| 549 |
+
"policy_rollout_success_rate": 0.26666666666666666,
|
| 550 |
+
"restore_max_error": 2.384185791015625e-07
|
| 551 |
+
},
|
| 552 |
+
"PushCube-v1": {
|
| 553 |
+
"action_mse_to_best": 0.5141648006911325,
|
| 554 |
+
"expert_success_rate": 0.8514851485148515,
|
| 555 |
+
"num_groups": 101,
|
| 556 |
+
"oracle_success_rate": 1.0,
|
| 557 |
+
"policy_expert_regret": 0.2486148280377435,
|
| 558 |
+
"policy_oracle_regret": 0.28494056705201026,
|
| 559 |
+
"policy_rollout_progress": 0.8635742844331382,
|
| 560 |
+
"policy_rollout_success_rate": 0.8514851485148515,
|
| 561 |
+
"restore_max_error": 2.384185791015625e-07
|
| 562 |
+
},
|
| 563 |
+
"StackCube-v1": {
|
| 564 |
+
"action_mse_to_best": 0.6196875052319633,
|
| 565 |
+
"expert_success_rate": 0.7666666666666667,
|
| 566 |
+
"num_groups": 90,
|
| 567 |
+
"oracle_success_rate": 0.9111111111111111,
|
| 568 |
+
"policy_expert_regret": 1.0516054833928743,
|
| 569 |
+
"policy_oracle_regret": 1.188110672434171,
|
| 570 |
+
"policy_rollout_progress": 0.48885276714960735,
|
| 571 |
+
"policy_rollout_success_rate": 0.2222222222222222,
|
| 572 |
+
"restore_max_error": 2.2351741790771484e-07
|
| 573 |
+
}
|
| 574 |
+
}
|
| 575 |
+
}
|
| 576 |
+
]
|
| 577 |
+
}
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005_summary.md
ADDED
|
@@ -0,0 +1,19 @@
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| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1`
|
| 5 |
+
Result file: `policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
|
| 10 |
+
Mean success: 38.78% +/- 1.66%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +9.04%
|
| 12 |
+
Mean progress: 59.89%
|
| 13 |
+
Mean action MSE to best: 0.513
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual direction | residual reduce | min type success | type success bonus | consensus penalty | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | candidate oracle | oracle gain | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---|---:|---:|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 37.74% | 58.71% | 85.74% | n/a | n/a | 0.498 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 37.91% | 59.28% | 86.96% | n/a | n/a | 0.513 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 40.70% | 61.68% | 87.65% | n/a | n/a | 0.528 |
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010_summary.json
ADDED
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@@ -0,0 +1,577 @@
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| 577 |
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}
|
workspace/results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010_summary.md
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+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1`
|
| 5 |
+
Result file: `policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
|
| 10 |
+
Mean success: 38.67% +/- 1.62%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +8.93%
|
| 12 |
+
Mean progress: 59.82%
|
| 13 |
+
Mean action MSE to best: 0.513
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual direction | residual reduce | min type success | type success bonus | consensus penalty | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | candidate oracle | oracle gain | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---|---:|---:|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 37.57% | 58.63% | 85.74% | n/a | n/a | 0.499 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 37.91% | 59.30% | 86.96% | n/a | n/a | 0.513 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 6 | raw | expert | candidate_minus_anchor | compose_mean_by_type | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.000 | 0.00 | 0 | 0.00 | 40.52% | 61.54% | 87.65% | n/a | n/a | 0.527 |
|
workspace/results/paper_analysis.json
CHANGED
|
@@ -1,6 +1,6 @@
|
|
| 1 |
{
|
| 2 |
"best_clean_key": "transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005",
|
| 3 |
-
"generated_utc": "2026-07-
|
| 4 |
"mechanism_gap": {
|
| 5 |
"best_clean_vs_direct_same_ckpt": 0.1060869565217391,
|
| 6 |
"best_clean_vs_h16": 0.09159420289855075,
|
|
@@ -13041,25 +13041,292 @@
|
|
| 13041 |
"std_success": 0.017764119937442965
|
| 13042 |
},
|
| 13043 |
"transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025": {
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| 13044 |
"headline_metric": "mean_success",
|
| 13045 |
"headline_metric_label": "deployment",
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|
| 13046 |
"label": "K6-matched transported residual field re-grounding, all-train tangent-length prior 0.025",
|
| 13047 |
-
"
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| 13048 |
-
"
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|
| 13049 |
},
|
| 13050 |
"transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005": {
|
|
|
|
|
|
|
| 13051 |
"headline_metric": "mean_success",
|
| 13052 |
"headline_metric_label": "deployment",
|
|
|
|
|
|
|
| 13053 |
"label": "K6-matched transported residual field re-grounding, all-train tangent-length prior 0.05",
|
| 13054 |
-
"
|
| 13055 |
-
"
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|
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|
| 13056 |
},
|
| 13057 |
"transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010": {
|
|
|
|
|
|
|
| 13058 |
"headline_metric": "mean_success",
|
| 13059 |
"headline_metric_label": "deployment",
|
|
|
|
|
|
|
| 13060 |
"label": "K6-matched transported residual field re-grounding, all-train tangent-length prior 0.10",
|
| 13061 |
-
"
|
| 13062 |
-
"
|
|
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|
|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
| 13063 |
},
|
| 13064 |
"transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_typesuccess001": {
|
| 13065 |
"ci95_success": 0.04240637681159422,
|
|
|
|
| 1 |
{
|
| 2 |
"best_clean_key": "transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005",
|
| 3 |
+
"generated_utc": "2026-07-02T16:52:46+00:00",
|
| 4 |
"mechanism_gap": {
|
| 5 |
"best_clean_vs_direct_same_ckpt": 0.1060869565217391,
|
| 6 |
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|
|
|
| 13041 |
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|
| 13042 |
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| 13043 |
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|
| 13044 |
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"ci95_success": 0.043707043917985716,
|
| 13045 |
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"headline_ci95_success": 0.043707043917985716,
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| 13046 |
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|
| 13047 |
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|
| 13048 |
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| 13049 |
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"headline_success": 0.38840579710144935,
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| 13050 |
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|
| 13051 |
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| 13056 |
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|
| 13057 |
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| 13058 |
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| 13060 |
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| 13062 |
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| 13066 |
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| 13067 |
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| 13068 |
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| 13072 |
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|
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|
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|
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|
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| 13108 |
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| 13109 |
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|
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| 13135 |
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| 13136 |
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workspace/results/paper_analysis.md
CHANGED
|
@@ -1,6 +1,6 @@
|
|
| 1 |
# Paper Analysis
|
| 2 |
|
| 3 |
-
Generated: `2026-07-
|
| 4 |
|
| 5 |
## Main Seed Statistics
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| 6 |
|
|
@@ -72,9 +72,9 @@ Generated: `2026-07-02T15:50:54+00:00`
|
|
| 72 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore001_metric_taskrel | K6-matched transported residual field re-grounding, source-score 0.01, task-relative retrieval chart | 3 | deployment | 37.22% +/- 1.66 | 37.22% | +/- 4.12 | 58.49% | 0.512 | +7.48 pp |
|
| 73 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore001_metric_taskrelz | K6-matched transported residual field re-grounding, source-score 0.01, task-relative z-score retrieval chart | 3 | deployment | 36.99% +/- 2.02 | 36.99% | +/- 5.01 | 58.49% | 0.511 | +7.25 pp |
|
| 74 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005 | K6-matched transported residual field re-grounding, task-conditioned source-score prior | 3 | deployment | 38.90% +/- 1.86 | 38.90% | +/- 4.62 | 59.96% | 0.513 | +9.16 pp |
|
| 75 |
-
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.025 |
|
| 76 |
-
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.05 |
|
| 77 |
-
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.10 |
|
| 78 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005 | K6-matched transported residual field re-grounding, train-oracle calibrated selector | 3 | deployment | 38.43% +/- 1.68 | 38.43% | +/- 4.17 | 59.70% | 0.512 | +8.70 pp |
|
| 79 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025 | K6-matched transported residual field re-grounding, small train-oracle selector calibration | 3 | deployment | 38.67% +/- 1.78 | 38.67% | +/- 4.41 | 59.79% | 0.513 | +8.93 pp |
|
| 80 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005 | K6-matched transported residual field re-grounding, train-oracle rank calibration | 3 | deployment | 38.84% +/- 1.76 | 38.84% | +/- 4.37 | 59.93% | 0.513 | +9.10 pp |
|
|
|
|
| 1 |
# Paper Analysis
|
| 2 |
|
| 3 |
+
Generated: `2026-07-02T16:52:46+00:00`
|
| 4 |
|
| 5 |
## Main Seed Statistics
|
| 6 |
|
|
|
|
| 72 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore001_metric_taskrel | K6-matched transported residual field re-grounding, source-score 0.01, task-relative retrieval chart | 3 | deployment | 37.22% +/- 1.66 | 37.22% | +/- 4.12 | 58.49% | 0.512 | +7.48 pp |
|
| 73 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore001_metric_taskrelz | K6-matched transported residual field re-grounding, source-score 0.01, task-relative z-score retrieval chart | 3 | deployment | 36.99% +/- 2.02 | 36.99% | +/- 5.01 | 58.49% | 0.511 | +7.25 pp |
|
| 74 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005 | K6-matched transported residual field re-grounding, task-conditioned source-score prior | 3 | deployment | 38.90% +/- 1.86 | 38.90% | +/- 4.62 | 59.96% | 0.513 | +9.16 pp |
|
| 75 |
+
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.025 | 3 | deployment | 38.84% +/- 1.76 | 38.84% | +/- 4.37 | 59.94% | 0.513 | +9.10 pp |
|
| 76 |
+
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.05 | 3 | deployment | 38.78% +/- 1.66 | 38.78% | +/- 4.12 | 59.89% | 0.513 | +9.04 pp |
|
| 77 |
+
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.10 | 3 | deployment | 38.67% +/- 1.62 | 38.67% | +/- 4.01 | 59.82% | 0.513 | +8.93 pp |
|
| 78 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005 | K6-matched transported residual field re-grounding, train-oracle calibrated selector | 3 | deployment | 38.43% +/- 1.68 | 38.43% | +/- 4.17 | 59.70% | 0.512 | +8.70 pp |
|
| 79 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025 | K6-matched transported residual field re-grounding, small train-oracle selector calibration | 3 | deployment | 38.67% +/- 1.78 | 38.67% | +/- 4.41 | 59.79% | 0.513 | +8.93 pp |
|
| 80 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005 | K6-matched transported residual field re-grounding, train-oracle rank calibration | 3 | deployment | 38.84% +/- 1.76 | 38.84% | +/- 4.37 | 59.93% | 0.513 | +9.10 pp |
|
workspace/results/paper_table_status.json
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"pending_job": "train oracle 15056041; validation 15059951-53; summaries 15059963-65",
|
| 1822 |
+
"path_exists": true,
|
| 1823 |
+
"status": "complete",
|
| 1824 |
+
"success": 0.38666666666666666,
|
| 1825 |
+
"std_success": 0.016159257814221853,
|
| 1826 |
"completed_seeds": null,
|
| 1827 |
+
"num_completed": 3,
|
| 1828 |
"best_config": null,
|
| 1829 |
+
"gain_vs_h16_policy": 0.08927536231884059
|
| 1830 |
},
|
| 1831 |
{
|
| 1832 |
"key": "transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005",
|
workspace/results/paper_table_status.md
CHANGED
|
@@ -96,9 +96,9 @@ Baseline h=16 policy: 29.74%
|
|
| 96 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore001_metric_taskrel | K6-matched transported residual field re-grounding, source-score 0.01, task-relative retrieval chart | complete | 37.22% | +7.48 pp | yes | no | no | object-relative local chart ablation for transported residual support selection |
|
| 97 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore001_metric_taskrelz | K6-matched transported residual field re-grounding, source-score 0.01, task-relative z-score retrieval chart | complete | 36.99% | +7.25 pp | yes | no | no | normalized object-relative local chart ablation for transported residual support selection |
|
| 98 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005 | K6-matched transported residual field re-grounding, task-conditioned source-score prior | complete | 38.90% | +9.16 pp | yes | no | no | task-conditioned train-source utility prior chosen from per-task source-score sensitivity |
|
| 99 |
-
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.025 |
|
| 100 |
-
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.05 |
|
| 101 |
-
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.10 |
|
| 102 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005 | K6-matched transported residual field re-grounding, train-oracle calibrated selector | complete | 38.43% | +8.70 pp | yes | no | no | selector calibration learned from train-split candidate-oracle rollouts and evaluated on held-out validation |
|
| 103 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025 | K6-matched transported residual field re-grounding, small train-oracle selector calibration | complete | 38.67% | +8.93 pp | yes | no | no | smaller train-oracle rank/type selector calibration learned without validation outcomes |
|
| 104 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005 | K6-matched transported residual field re-grounding, train-oracle rank calibration | complete | 38.84% | +9.10 pp | yes | no | no | rank-only selector calibration learned from train-split candidate-oracle rollouts |
|
|
|
|
| 96 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore001_metric_taskrel | K6-matched transported residual field re-grounding, source-score 0.01, task-relative retrieval chart | complete | 37.22% | +7.48 pp | yes | no | no | object-relative local chart ablation for transported residual support selection |
|
| 97 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore001_metric_taskrelz | K6-matched transported residual field re-grounding, source-score 0.01, task-relative z-score retrieval chart | complete | 36.99% | +7.25 pp | yes | no | no | normalized object-relative local chart ablation for transported residual support selection |
|
| 98 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005 | K6-matched transported residual field re-grounding, task-conditioned source-score prior | complete | 38.90% | +9.16 pp | yes | no | no | task-conditioned train-source utility prior chosen from per-task source-score sensitivity |
|
| 99 |
+
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale0025 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.025 | complete | 38.84% | +9.10 pp | yes | no | no | tangent-length calibration learned from all train-split candidate-oracle traces |
|
| 100 |
+
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.05 | complete | 38.78% | +9.04 pp | yes | no | no | tangent-length calibration learned from all train-split candidate-oracle traces |
|
| 101 |
+
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010 | K6-matched transported residual field re-grounding, all-train tangent-length prior 0.10 | complete | 38.67% | +8.93 pp | yes | no | no | tangent-length calibration learned from all train-split candidate-oracle traces |
|
| 102 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005 | K6-matched transported residual field re-grounding, train-oracle calibrated selector | complete | 38.43% | +8.70 pp | yes | no | no | selector calibration learned from train-split candidate-oracle rollouts and evaluated on held-out validation |
|
| 103 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025 | K6-matched transported residual field re-grounding, small train-oracle selector calibration | complete | 38.67% | +8.93 pp | yes | no | no | smaller train-oracle rank/type selector calibration learned without validation outcomes |
|
| 104 |
| transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005 | K6-matched transported residual field re-grounding, train-oracle rank calibration | complete | 38.84% | +9.10 pp | yes | no | no | rank-only selector calibration learned from train-split candidate-oracle rollouts |
|
workspace/scripts/build_paper_table_status.py
CHANGED
|
@@ -935,7 +935,7 @@ SPECS = [
|
|
| 935 |
same_state_proposals="no",
|
| 936 |
expert_proposal="no",
|
| 937 |
story_role="tangent-length calibration learned from all train-split candidate-oracle traces",
|
| 938 |
-
pending_job="
|
| 939 |
),
|
| 940 |
ResultSpec(
|
| 941 |
key="transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005",
|
|
@@ -945,7 +945,7 @@ SPECS = [
|
|
| 945 |
same_state_proposals="no",
|
| 946 |
expert_proposal="no",
|
| 947 |
story_role="tangent-length calibration learned from all train-split candidate-oracle traces",
|
| 948 |
-
pending_job="
|
| 949 |
),
|
| 950 |
ResultSpec(
|
| 951 |
key="transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010",
|
|
@@ -955,7 +955,7 @@ SPECS = [
|
|
| 955 |
same_state_proposals="no",
|
| 956 |
expert_proposal="no",
|
| 957 |
story_role="tangent-length calibration learned from all train-split candidate-oracle traces",
|
| 958 |
-
pending_job="
|
| 959 |
),
|
| 960 |
ResultSpec(
|
| 961 |
key="transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005",
|
|
|
|
| 935 |
same_state_proposals="no",
|
| 936 |
expert_proposal="no",
|
| 937 |
story_role="tangent-length calibration learned from all train-split candidate-oracle traces",
|
| 938 |
+
pending_job="train oracle 15056041; validation 15059951-53; summaries 15059963-65",
|
| 939 |
),
|
| 940 |
ResultSpec(
|
| 941 |
key="transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale005",
|
|
|
|
| 945 |
same_state_proposals="no",
|
| 946 |
expert_proposal="no",
|
| 947 |
story_role="tangent-length calibration learned from all train-split candidate-oracle traces",
|
| 948 |
+
pending_job="train oracle 15056041; validation 15059951-53; summaries 15059963-65",
|
| 949 |
),
|
| 950 |
ResultSpec(
|
| 951 |
key="transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_scaleoracle_trainall_k4_scale010",
|
|
|
|
| 955 |
same_state_proposals="no",
|
| 956 |
expert_proposal="no",
|
| 957 |
story_role="tangent-length calibration learned from all train-split candidate-oracle traces",
|
| 958 |
+
pending_job="train oracle 15056041; validation 15059951-53; summaries 15059963-65",
|
| 959 |
),
|
| 960 |
ResultSpec(
|
| 961 |
key="transport_field_reground_fieldonly_k6matched_b12_clean_k6_dropnoopwg_retargeted_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005",
|