Auto-sync: 2026-06-28 21:50:30

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03_summary.json

@@ -0,0 +1,336 @@
+{
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+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03_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_k4_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 34.96% +/- 1.55%
+Gain vs h=16 rank checkpoint: +5.22%
+Mean progress: 56.55%
+Mean action MSE to best: 0.397
+
+| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual reduce | min type success | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---|---:|---|---|---|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 4 | no | 4 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.43% | 55.10% | 85.74% | 0.382 |
+| 1 | retrieval_residual | 4 | no | 4 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 33.74% | 56.39% | 86.96% | 0.390 |
+| 2 | retrieval_residual | 4 | no | 4 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 36.70% | 58.16% | 87.65% | 0.417 |

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_fieldsoftmax_grid_safe_margin0p20_summary.json

@@ -0,0 +1,328 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "near_miss_policy_bc5",
+  "out_name": "policy_rollout_retrieval_residual_k4_fieldsoftmax_grid_safe_margin0p20.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.34956521739130436,
+  "std_success": 0.015939393721585544,
+  "mean_progress": 0.5651957168639754,
+  "mean_action_mse_to_best": 0.3966233951844059,
+  "gain_vs_h4": 0.05286521739130434,
+  "gain_vs_h16_rank_checkpoint": 0.05217391304347829,
+  "rows": [
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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_fieldsoftmax_grid_safe_margin0p20.json",
+      "num_groups": 575,
+      "selection_mode": "retrieval_residual",
+      "num_candidates": 4,
+      "candidate_sigma": 0.0,
+      "selection_margin": 0.2,
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+      "field_optim_trust_radius": 0.0,
+      "field_optim_l2_penalty": 0.0,
+      "retrieval_neighbors": 4,
+      "retrieval_metric": "raw",
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+        0.4,
+        0.45
+      ],
+      "retrieval_residual_anchor": "expert",
+      "retrieval_residual_reduce": "field_softmax",
+      "candidate_type_bonuses": {},
+      "selected_residual_scale_counts": {
+        "0.35": 4,
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+    }
+  ]
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_fieldsoftmax_grid_safe_margin0p20_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_k4_fieldsoftmax_grid_safe_margin0p20.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 34.96% +/- 1.59%
+Gain vs h=16 rank checkpoint: +5.22%
+Mean progress: 56.52%
+Mean action MSE to best: 0.397
+
+| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual reduce | min type success | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---|---:|---|---|---|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 4 | no | 4 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.61% | 55.16% | 85.74% | 0.382 |
+| 1 | retrieval_residual | 4 | no | 4 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 33.57% | 56.24% | 86.96% | 0.390 |
+| 2 | retrieval_residual | 4 | no | 4 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 36.70% | 58.16% | 87.65% | 0.417 |

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k8_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03_summary.json

@@ -0,0 +1,335 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "near_miss_policy_bc5",
+  "out_name": "policy_rollout_retrieval_residual_k8_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.34840579710144925,
+  "std_success": 0.013508614722006988,
+  "mean_progress": 0.5654974544787073,
+  "mean_action_mse_to_best": 0.3965390111870416,
+  "gain_vs_h4": 0.051705797101449236,
+  "gain_vs_h16_rank_checkpoint": 0.051014492753623186,
+  "rows": [
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+      "num_groups": 575,
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+          "restore_max_error": 1.955777406692505e-07
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+      }
+    }
+  ]
+}

results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k8_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03_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_k8_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03.json`
+Completed seeds: 3
+Baseline h=4 policy success: 29.67%
+Baseline h=16 rank-checkpoint success: 29.74%
+
+Mean success: 34.84% +/- 1.35%
+Gain vs h=16 rank checkpoint: +5.10%
+Mean progress: 56.55%
+Mean action MSE to best: 0.397
+
+| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual reduce | min type success | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
+|---:|---|---:|---|---:|---|---|---|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| 0 | retrieval_residual | 4 | no | 8 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.43% | 55.08% | 85.74% | 0.382 |
+| 1 | retrieval_residual | 4 | no | 8 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 33.74% | 56.46% | 86.96% | 0.390 |
+| 2 | retrieval_residual | 4 | no | 8 | raw | expert | field_softmax | 0.00 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 36.35% | 58.11% | 87.65% | 0.418 |

results/paper_analysis.json

@@ -1,6 +1,6 @@
 {
   "best_clean_key": "residual_k4_consensus_noopbonus003",
-  "generated_utc": "2026-06-29T01:43:07+00:00",
+  "generated_utc": "2026-06-29T01:49:02+00:00",
   "mechanism_gap": {
     "best_clean_vs_direct_same_ckpt": 0.06956521739130428,
     "best_clean_vs_h16": 0.05507246376811592,
@@ -1284,9 +1284,77 @@
       "source": "results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_fieldsoftmax_grid_safe_margin0p10_noopbonus0p03_summary.json"
     },
     "residual_k4_fieldsoftmax_grid_noopbonus003": {
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+      "mean_action_mse_to_best": 0.39662280325845317,
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+        "PushCube-v1": {
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+        "1": 0.3373913043478261,
+        "2": 0.36695652173913046
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+      "selected_type_outcomes": {
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+      "std_success": 0.015457729421418421
     },
     "residual_k4_kernel_consensus": {
       "ci95_success": 0.028331991434178094,
@@ -1597,9 +1665,77 @@
       "std_success": 0.010190374394925756
     },
     "residual_k8_fieldsoftmax_grid_noopbonus003": {
+      "ci95_success": 0.033559967695396,
       "label": "K8 field-softmax tangent transport, scales 0.35/0.40/0.45, no-op bonus 0.03",
-      "missing": true,
-      "source": "results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k8_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03_summary.json"
+      "mean_action_mse_to_best": 0.39653901118704155,
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+      "per_task_success": {
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+          "mean_success": 0.26340865087329823,
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+          "std_success": 0.029047953228423067
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+          "std_success": 0.03228028468162416
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+          "std_success": 0.0743010744752375
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+        "StackCube-v1": {
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+          "mean_success": 0.1937062937062937,
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+        "retrieval_residual_policy_residual": 1688
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+      "source": "results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k8_fieldsoftmax_grid_safe_margin0p20_noopbonus0p03_summary.json",
+      "std_success": 0.013508614722006988
     },
     "same_state_full": {
       "ci95_success": 0.0885808391099616,

results/paper_analysis.md

@@ -1,6 +1,6 @@
 # Paper Analysis
 
-Generated: `2026-06-29T01:43:07+00:00`
+Generated: `2026-06-29T01:49:02+00:00`
 
 ## Main Seed Statistics
 
@@ -16,11 +16,11 @@ Generated: `2026-06-29T01:43:07+00:00`
 | residual_k4_kernel_consensus_s035_noopbonus003 | K4 kernel-weighted tangent consensus, scale 0.35, no-op bonus 0.03 | 3 | 35.13% +/- 1.14 | +/- 2.83 | 56.56% | 0.395 | +5.39 pp |
 | residual_k4_kernel_consensus_s045_noopbonus003 | K4 kernel-weighted tangent consensus, scale 0.45, no-op bonus 0.03 | 3 | 35.19% +/- 1.02 | +/- 2.53 | 56.71% | 0.397 | +5.45 pp |
 | residual_k4_fieldsoftmax_grid | K4 field-softmax tangent transport, scales 0.35/0.40/0.45 | 3 | 34.96% +/- 1.59 | +/- 3.96 | 56.52% | 0.397 | +5.22 pp |
-| residual_k4_fieldsoftmax_grid_noopbonus003 | K4 field-softmax tangent transport, scales 0.35/0.40/0.45, no-op bonus 0.03 | 0 | missing | missing | missing | missing | missing |
+| residual_k4_fieldsoftmax_grid_noopbonus003 | K4 field-softmax tangent transport, scales 0.35/0.40/0.45, no-op bonus 0.03 | 3 | 34.96% +/- 1.55 | +/- 3.84 | 56.55% | 0.397 | +5.22 pp |
 | residual_k4_fieldsoftmax_grid_margin010_noopbonus003 | K4 field-softmax tangent transport, margin 0.10, no-op bonus 0.03 | 0 | missing | missing | missing | missing | missing |
 | residual_k4_fieldsoftmax_grid_margin005_noopbonus003 | K4 field-softmax tangent transport, margin 0.05, no-op bonus 0.03 | 0 | missing | missing | missing | missing | missing |
 | residual_k4_fieldsoftmax_grid_margin000_noopbonus003 | K4 field-softmax tangent transport, margin 0.00, no-op bonus 0.03 | 0 | missing | missing | missing | missing | missing |
-| residual_k8_fieldsoftmax_grid_noopbonus003 | K8 field-softmax tangent transport, scales 0.35/0.40/0.45, no-op bonus 0.03 | 0 | missing | missing | missing | missing | missing |
+| residual_k8_fieldsoftmax_grid_noopbonus003 | K8 field-softmax tangent transport, scales 0.35/0.40/0.45, no-op bonus 0.03 | 3 | 34.84% +/- 1.35 | +/- 3.36 | 56.55% | 0.397 | +5.10 pp |
 | residual_k4_consensus_noopbonus003 | K4 mean-by-type tangent consensus, no-op bonus 0.03 | 3 | 35.25% +/- 1.28 | +/- 3.18 | 56.68% | 0.395 | +5.51 pp |
 | residual_k4_consensus_noopbonus001 | K4 mean-by-type tangent consensus, no-op bonus 0.01 | 3 | 35.19% +/- 1.32 | +/- 3.27 | 56.63% | 0.395 | +5.45 pp |
 | residual_k4_consensus_noopbonus002 | K4 mean-by-type tangent consensus, no-op bonus 0.02 | 3 | 35.19% +/- 1.32 | +/- 3.27 | 56.64% | 0.395 | +5.45 pp |
@@ -99,6 +99,10 @@ These rows are measured from raw rollout rows. In residual retrieval, `policy_re
 | residual_k4_kernel_consensus_s045_noopbonus003 | retrieval_residual_residual_wrong_gripper | 26 | 46.15% | 63.14% |
 | residual_k4_fieldsoftmax_grid | retrieval_residual_policy_residual | 1688 | 34.42% | 56.17% |
 | residual_k4_fieldsoftmax_grid | retrieval_residual_field_softmax | 37 | 59.46% | 72.64% |
+| residual_k4_fieldsoftmax_grid_noopbonus003 | retrieval_residual_policy_residual | 1685 | 34.36% | 56.11% |
+| residual_k4_fieldsoftmax_grid_noopbonus003 | retrieval_residual_field_softmax | 40 | 60.00% | 74.94% |
+| residual_k8_fieldsoftmax_grid_noopbonus003 | retrieval_residual_policy_residual | 1688 | 34.30% | 56.09% |
+| residual_k8_fieldsoftmax_grid_noopbonus003 | retrieval_residual_field_softmax | 37 | 59.46% | 77.72% |
 | residual_k4_consensus_noopbonus003 | retrieval_residual_policy_residual | 1649 | 34.57% | 56.12% |
 | residual_k4_consensus_noopbonus003 | retrieval_residual_residual_no_op | 53 | 52.83% | 73.47% |
 | residual_k4_consensus_noopbonus003 | retrieval_residual_residual_wrong_gripper | 23 | 43.48% | 58.07% |

results/paper_table_status.json

@@ -717,14 +717,14 @@
       "story_role": "field-conditioned tangent transport with sparse-action prior",
       "fallback_success": null,
       "pending_job": "14891902/14891946",
-      "path_exists": false,
-      "status": "pending",
-      "success": null,
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+      "path_exists": true,
+      "status": "complete",
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       "completed_seeds": null,
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+      "num_completed": 3,
       "best_config": null,
-      "gain_vs_h16_policy": null
+      "gain_vs_h16_policy": 0.05217391304347829
     },
     {
       "key": "retrieval_residual_k4_fieldsoftmax_grid_margin010_noopbonus003",
@@ -735,7 +735,7 @@
       "expert_proposal": "no",
       "story_role": "field-conditioned tangent transport abstention sweep",
       "fallback_success": null,
-      "pending_job": "",
+      "pending_job": "14892958/14893002",
       "path_exists": false,
       "status": "pending",
       "success": null,
@@ -754,7 +754,7 @@
       "expert_proposal": "no",
       "story_role": "field-conditioned tangent transport abstention sweep",
       "fallback_success": null,
-      "pending_job": "",
+      "pending_job": "14892975/14893016",
       "path_exists": false,
       "status": "pending",
       "success": null,
@@ -773,7 +773,7 @@
       "expert_proposal": "no",
       "story_role": "field-conditioned tangent transport no-abstention diagnostic",
       "fallback_success": null,
-      "pending_job": "",
+      "pending_job": "14892990/14893028",
       "path_exists": false,
       "status": "pending",
       "success": null,
@@ -793,14 +793,14 @@
       "story_role": "field-conditioned tangent transport neighborhood scaling",
       "fallback_success": null,
       "pending_job": "14891923/14891960",
-      "path_exists": false,
-      "status": "pending",
-      "success": null,
-      "std_success": null,
+      "path_exists": true,
+      "status": "complete",
+      "success": 0.34840579710144925,
+      "std_success": 0.013508614722006988,
       "completed_seeds": null,
-      "num_completed": null,
+      "num_completed": 3,
       "best_config": null,
-      "gain_vs_h16_policy": null
+      "gain_vs_h16_policy": 0.051014492753623186
     },
     {
       "key": "retrieval_residual_k4_mean_noopbonus003",

results/paper_table_status.md

@@ -40,11 +40,11 @@ Baseline h=16 policy: 29.74%
 | retrieval_residual_k4_kernel_mean_s035_noopbonus003 | K4 kernel-weighted residual retrieval, scale 0.35, margin 0.20, no-op residual bonus 0.03 | complete | 35.13% | +5.39 pp | yes | no | no | local counterfactual tangent-field interpolation scale check |
 | retrieval_residual_k4_kernel_mean_s045_noopbonus003 | K4 kernel-weighted residual retrieval, scale 0.45, margin 0.20, no-op residual bonus 0.03 | complete | 35.19% | +5.45 pp | yes | no | no | local counterfactual tangent-field interpolation scale check |
 | retrieval_residual_k4_fieldsoftmax_grid | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.20 | complete | 34.96% | +5.22 pp | yes | no | no | field-conditioned counterfactual tangent transport |
-| retrieval_residual_k4_fieldsoftmax_grid_noopbonus003 | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.20, no-op residual bonus 0.03 | pending 14891902/14891946 | pending | pending | yes | no | no | field-conditioned tangent transport with sparse-action prior |
-| retrieval_residual_k4_fieldsoftmax_grid_margin010_noopbonus003 | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.10, no-op residual bonus 0.03 | pending | pending | pending | yes | no | no | field-conditioned tangent transport abstention sweep |
-| retrieval_residual_k4_fieldsoftmax_grid_margin005_noopbonus003 | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.05, no-op residual bonus 0.03 | pending | pending | pending | yes | no | no | field-conditioned tangent transport abstention sweep |
-| retrieval_residual_k4_fieldsoftmax_grid_margin000_noopbonus003 | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.00, no-op residual bonus 0.03 | pending | pending | pending | yes | no | no | field-conditioned tangent transport no-abstention diagnostic |
-| retrieval_residual_k8_fieldsoftmax_grid_noopbonus003 | K8 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.20, no-op residual bonus 0.03 | pending 14891923/14891960 | pending | pending | yes | no | no | field-conditioned tangent transport neighborhood scaling |
+| retrieval_residual_k4_fieldsoftmax_grid_noopbonus003 | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.20, no-op residual bonus 0.03 | complete | 34.96% | +5.22 pp | yes | no | no | field-conditioned tangent transport with sparse-action prior |
+| retrieval_residual_k4_fieldsoftmax_grid_margin010_noopbonus003 | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.10, no-op residual bonus 0.03 | pending 14892958/14893002 | pending | pending | yes | no | no | field-conditioned tangent transport abstention sweep |
+| retrieval_residual_k4_fieldsoftmax_grid_margin005_noopbonus003 | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.05, no-op residual bonus 0.03 | pending 14892975/14893016 | pending | pending | yes | no | no | field-conditioned tangent transport abstention sweep |
+| retrieval_residual_k4_fieldsoftmax_grid_margin000_noopbonus003 | K4 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.00, no-op residual bonus 0.03 | pending 14892990/14893028 | pending | pending | yes | no | no | field-conditioned tangent transport no-abstention diagnostic |
+| retrieval_residual_k8_fieldsoftmax_grid_noopbonus003 | K8 field-softmax residual transport, safe residuals, scales 0.35/0.40/0.45, margin 0.20, no-op residual bonus 0.03 | complete | 34.84% | +5.10 pp | yes | no | no | field-conditioned tangent transport neighborhood scaling |
 | retrieval_residual_k4_mean_noopbonus003 | K4 mean-by-type residual retrieval, scale 0.40, margin 0.20, no-op residual bonus 0.03 | complete | 35.25% | +5.51 pp | yes | no | no | current best clean typed sparse-intervention prior |
 | retrieval_residual_k4_mean_noopbonus001 | K4 mean-by-type residual retrieval, scale 0.40, margin 0.20, no-op residual bonus 0.01 | complete | 35.19% | +5.45 pp | yes | no | no | typed sparse-intervention prior fine sweep |
 | retrieval_residual_k4_mean_noopbonus002 | K4 mean-by-type residual retrieval, scale 0.40, margin 0.20, no-op residual bonus 0.02 | complete | 35.19% | +5.45 pp | yes | no | no | typed sparse-intervention prior fine sweep |