Auto-sync: 2026-06-30 23:51:37
Browse files- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p02_nmchallenger0p01_summary.json +466 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p02_nmchallenger0p01_summary.md +19 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p05_nmchallenger0p01_summary.json +466 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p05_nmchallenger0p01_summary.md +19 -0
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p02_nmchallenger0p01_summary.json
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| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "near_miss_policy_bc5",
|
| 4 |
+
"out_name": "policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p02_nmchallenger0p01.json",
|
| 5 |
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"num_completed": 3,
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| 6 |
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"baseline_h4_policy_success": 0.2967,
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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"rows": [
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| 15 |
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{
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| 16 |
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"seed": 0,
|
| 17 |
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"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p02_nmchallenger0p01.json",
|
| 18 |
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"num_groups": 575,
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| 19 |
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"selection_mode": "retrieval_residual",
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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| 29 |
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| 30 |
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"retrieval_neighbors": 4,
|
| 31 |
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"retrieval_metric": "raw",
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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"retrieval_residual_min_source_advantage": -1000000000.0,
|
| 37 |
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|
| 38 |
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| 39 |
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|
| 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 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
+
],
|
| 47 |
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"retrieval_residual_anchor": "expert",
|
| 48 |
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"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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"residual_near_miss"
|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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| 56 |
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"retrieval_residual_challenger_tasks": [],
|
| 57 |
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| 58 |
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| 59 |
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"residual_random_negative",
|
| 60 |
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"residual_wrong_direction",
|
| 61 |
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"residual_near_miss+residual_no_op"
|
| 62 |
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],
|
| 63 |
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| 64 |
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| 65 |
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| 66 |
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},
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| 67 |
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|
| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 75 |
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| 77 |
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| 78 |
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| 79 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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},
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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"progress_mae": 0.1933159919248687,
|
| 101 |
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| 102 |
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"rank_loss": 0.5130523675017886,
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| 103 |
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| 104 |
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"success_accuracy": 0.8773836526605818,
|
| 105 |
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"total_loss": 1.5581054819954767
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| 106 |
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},
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| 107 |
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"per_task": {
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| 108 |
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"LiftPegUpright-v1": {
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| 109 |
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"action_mse_to_best": 0.32300319151050344,
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| 110 |
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"expert_success_rate": 0.8865979381443299,
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| 111 |
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| 112 |
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"oracle_success_rate": 0.9278350515463918,
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| 113 |
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| 114 |
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"policy_oracle_regret": 1.1047489480259491,
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| 115 |
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"policy_rollout_progress": 0.5714634232914325,
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| 116 |
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"policy_rollout_success_rate": 0.2268041237113402,
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| 117 |
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"restore_max_error": 2.384185791015625e-07
|
| 118 |
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},
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| 119 |
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"PickCube-v1": {
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| 120 |
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"action_mse_to_best": 0.30278675958442575,
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| 121 |
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"expert_success_rate": 0.9375,
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"policy_expert_regret": 0.9510086904494808,
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| 127 |
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"policy_rollout_success_rate": 0.35096153846153844,
|
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"num_groups": 90,
|
| 434 |
+
"oracle_success_rate": 0.4666666666666667,
|
| 435 |
+
"policy_expert_regret": 0.26827634293586017,
|
| 436 |
+
"policy_oracle_regret": 0.45376074814962014,
|
| 437 |
+
"policy_rollout_progress": 0.37135277808540396,
|
| 438 |
+
"policy_rollout_success_rate": 0.26666666666666666,
|
| 439 |
+
"restore_max_error": 2.384185791015625e-07
|
| 440 |
+
},
|
| 441 |
+
"PushCube-v1": {
|
| 442 |
+
"action_mse_to_best": 0.397049247997232,
|
| 443 |
+
"expert_success_rate": 0.8514851485148515,
|
| 444 |
+
"num_groups": 101,
|
| 445 |
+
"oracle_success_rate": 1.0,
|
| 446 |
+
"policy_expert_regret": 0.3614020819711213,
|
| 447 |
+
"policy_oracle_regret": 0.41630433337523204,
|
| 448 |
+
"policy_rollout_progress": 0.8015174488029858,
|
| 449 |
+
"policy_rollout_success_rate": 0.7821782178217822,
|
| 450 |
+
"restore_max_error": 2.384185791015625e-07
|
| 451 |
+
},
|
| 452 |
+
"StackCube-v1": {
|
| 453 |
+
"action_mse_to_best": 0.5226443493117888,
|
| 454 |
+
"expert_success_rate": 0.7666666666666667,
|
| 455 |
+
"num_groups": 90,
|
| 456 |
+
"oracle_success_rate": 0.9111111111111111,
|
| 457 |
+
"policy_expert_regret": 1.1748778588242001,
|
| 458 |
+
"policy_oracle_regret": 1.3369984101918009,
|
| 459 |
+
"policy_rollout_progress": 0.4047339239054256,
|
| 460 |
+
"policy_rollout_success_rate": 0.14444444444444443,
|
| 461 |
+
"restore_max_error": 2.2351741790771484e-07
|
| 462 |
+
}
|
| 463 |
+
}
|
| 464 |
+
}
|
| 465 |
+
]
|
| 466 |
+
}
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p02_nmchallenger0p01_summary.md
ADDED
|
@@ -0,0 +1,19 @@
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| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `near_miss_policy_bc5`
|
| 5 |
+
Result file: `policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p02_nmchallenger0p01.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: 35.71% +/- 1.75%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +5.97%
|
| 12 |
+
Mean progress: 57.19%
|
| 13 |
+
Mean action MSE to best: 0.407
|
| 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 | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss@0.01 | 0.00 | 0.020 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 35.48% | 55.72% | 85.74% | n/a | n/a | 0.394 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss@0.01 | 0.00 | 0.020 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.09% | 56.87% | 86.96% | n/a | n/a | 0.400 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss@0.01 | 0.00 | 0.020 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 37.57% | 58.98% | 87.65% | n/a | n/a | 0.427 |
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p05_nmchallenger0p01_summary.json
ADDED
|
@@ -0,0 +1,466 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "near_miss_policy_bc5",
|
| 4 |
+
"out_name": "policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p05_nmchallenger0p01.json",
|
| 5 |
+
"num_completed": 3,
|
| 6 |
+
"baseline_h4_policy_success": 0.2967,
|
| 7 |
+
"baseline_h16_rank_checkpoint_success": 0.29739130434782607,
|
| 8 |
+
"mean_success": 0.35304347826086957,
|
| 9 |
+
"std_success": 0.017650246200160362,
|
| 10 |
+
"mean_progress": 0.5707256394622011,
|
| 11 |
+
"mean_action_mse_to_best": 0.40862887538510606,
|
| 12 |
+
"gain_vs_h4": 0.05634347826086955,
|
| 13 |
+
"gain_vs_h16_rank_checkpoint": 0.0556521739130435,
|
| 14 |
+
"rows": [
|
| 15 |
+
{
|
| 16 |
+
"seed": 0,
|
| 17 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p05_nmchallenger0p01.json",
|
| 18 |
+
"num_groups": 575,
|
| 19 |
+
"selection_mode": "retrieval_residual",
|
| 20 |
+
"num_candidates": 48,
|
| 21 |
+
"candidate_sigma": 0.0,
|
| 22 |
+
"proposal_types": [],
|
| 23 |
+
"proposal_lattice_types": [],
|
| 24 |
+
"selection_margin": 0.2,
|
| 25 |
+
"prepend_policy_candidate": false,
|
| 26 |
+
"field_optim_steps": 0,
|
| 27 |
+
"field_optim_step_size": 0.0,
|
| 28 |
+
"field_optim_trust_radius": 0.0,
|
| 29 |
+
"field_optim_l2_penalty": 0.0,
|
| 30 |
+
"retrieval_neighbors": 4,
|
| 31 |
+
"retrieval_metric": "raw",
|
| 32 |
+
"retrieval_type_min_success": 0.0,
|
| 33 |
+
"retrieval_type_success_bonus_scale": 0.05,
|
| 34 |
+
"retrieval_residual_consensus_penalty_scale": 0.0,
|
| 35 |
+
"retrieval_residual_min_source_progress": 0.0,
|
| 36 |
+
"retrieval_residual_min_source_advantage": -1000000000.0,
|
| 37 |
+
"retrieval_residual_source_progress_bonus_scale": 0.0,
|
| 38 |
+
"retrieval_residual_source_score_bonus_scale": 0.0,
|
| 39 |
+
"retrieval_residual_source_advantage_bonus_scale": 0.0,
|
| 40 |
+
"retrieval_residual_composite_l2_penalty_scale": 0.0,
|
| 41 |
+
"retrieval_residual_scale": 1.0,
|
| 42 |
+
"retrieval_residual_scales": [
|
| 43 |
+
0.35,
|
| 44 |
+
0.4,
|
| 45 |
+
0.45
|
| 46 |
+
],
|
| 47 |
+
"retrieval_residual_anchor": "expert",
|
| 48 |
+
"retrieval_residual_direction": "candidate_minus_anchor",
|
| 49 |
+
"retrieval_residual_reduce": "compose_mean_by_type",
|
| 50 |
+
"retrieval_residual_challenger_types": [
|
| 51 |
+
"residual_near_miss"
|
| 52 |
+
],
|
| 53 |
+
"retrieval_residual_challenger_scales": [],
|
| 54 |
+
"retrieval_residual_challenger_margin": 0.01,
|
| 55 |
+
"retrieval_residual_challenger_type_margins": {},
|
| 56 |
+
"retrieval_residual_challenger_tasks": [],
|
| 57 |
+
"retrieval_residual_challenger_type_tasks": {},
|
| 58 |
+
"lattice_exclude_types": [
|
| 59 |
+
"residual_random_negative",
|
| 60 |
+
"residual_wrong_direction",
|
| 61 |
+
"residual_near_miss+residual_no_op"
|
| 62 |
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| 369 |
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| 370 |
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| 371 |
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| 372 |
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| 373 |
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| 374 |
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| 375 |
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"candidate_oracle_unique_count": null,
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| 376 |
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"candidate_oracle_improvement_rate": null,
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| 377 |
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"candidate_oracle_selected_branch_success_rate": null,
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| 378 |
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| 379 |
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"candidate_oracle_type_counts": {},
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| 380 |
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"candidate_oracle_best_branch_rank": null,
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| 381 |
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"candidate_oracle_best_branch_rank_counts": {},
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| 382 |
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| 383 |
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"candidate_oracle_branch_progress": [],
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| 384 |
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|
| 385 |
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"selected_residual_scale_counts": {
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| 386 |
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"0.35": 509,
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| 387 |
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"0.45": 56,
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| 388 |
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"0.4": 10
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| 389 |
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},
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| 390 |
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| 391 |
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| 394 |
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| 395 |
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| 398 |
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| 399 |
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| 400 |
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| 402 |
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| 403 |
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| 404 |
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| 405 |
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| 406 |
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| 407 |
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"per_task": {
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| 408 |
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"LiftPegUpright-v1": {
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| 409 |
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| 410 |
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| 411 |
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| 412 |
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| 413 |
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| 417 |
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| 418 |
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| 419 |
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| 420 |
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| 421 |
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| 422 |
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| 423 |
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| 427 |
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| 428 |
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| 429 |
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},
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| 430 |
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"PullCube-v1": {
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| 431 |
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| 432 |
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| 433 |
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| 434 |
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| 435 |
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| 436 |
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| 437 |
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| 438 |
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| 439 |
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|
| 440 |
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},
|
| 441 |
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"PushCube-v1": {
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| 442 |
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| 443 |
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| 444 |
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| 445 |
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|
| 446 |
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| 447 |
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| 449 |
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|
| 450 |
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|
| 451 |
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},
|
| 452 |
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"StackCube-v1": {
|
| 453 |
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|
| 454 |
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|
| 455 |
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|
| 456 |
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"oracle_success_rate": 0.9111111111111111,
|
| 457 |
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"policy_expert_regret": 1.168176835940944,
|
| 458 |
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|
| 459 |
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|
| 460 |
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"policy_rollout_success_rate": 0.14444444444444443,
|
| 461 |
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"restore_max_error": 2.2351741790771484e-07
|
| 462 |
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}
|
| 463 |
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}
|
| 464 |
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}
|
| 465 |
+
]
|
| 466 |
+
}
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p05_nmchallenger0p01_summary.md
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| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `near_miss_policy_bc5`
|
| 5 |
+
Result file: `policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_typesuccessbonus0p05_nmchallenger0p01.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: 35.30% +/- 1.77%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +5.57%
|
| 12 |
+
Mean progress: 57.07%
|
| 13 |
+
Mean action MSE to best: 0.409
|
| 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 | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss@0.01 | 0.00 | 0.050 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.96% | 55.53% | 85.74% | n/a | n/a | 0.396 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss@0.01 | 0.00 | 0.050 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 33.74% | 56.74% | 86.96% | n/a | n/a | 0.401 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss@0.01 | 0.00 | 0.050 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 37.22% | 58.94% | 87.65% | n/a | n/a | 0.429 |
|