refresh CTT proxy gate artifacts

runs/ctt_val_proxy_comparison/command.txt

@@ -1 +1 @@
-python scripts/build_ctt_proxy_comparison.py --out-dir runs/ctt_val_proxy_comparison
+python scripts/build_ctt_proxy_comparison.py --out-dir runs/ctt_val_proxy_comparison --no-markdown-report

runs/ctt_val_proxy_comparison/metrics.json

@@ -6,12 +6,15 @@
     {
       "beats_local_atlas_support": false,
       "candidate_diversity": 0.821928094090022,
+      "collapse_rate": 0.06605580409928237,
       "data_hash": "90b431047a1f35cec095cbafa7de5bc0126cb0d0f4db3ff31843dca369977957",
+      "mean_negative_distance": 0.6789322236382422,
       "mean_positive_distance": 0.7203264851945577,
       "method": "local_atlas",
       "negative_near_0p20": 0.03683574879227053,
       "negative_near_0p40": 0.20513731437644483,
       "num_rows": 69,
+      "pos_closer_than_neg": 0.5998446814623285,
       "pptc_0p20": 0.4057971014492754,
       "pptc_0p40": 0.6811594202898551,
       "proxy_gate_pass": false,
@@ -24,12 +27,15 @@
     {
       "beats_local_atlas_support": false,
       "candidate_diversity": 0.9751103010950768,
+      "collapse_rate": 0.06256038647342994,
       "data_hash": "90b431047a1f35cec095cbafa7de5bc0126cb0d0f4db3ff31843dca369977957",
+      "mean_negative_distance": 0.9219133529525894,
       "mean_positive_distance": 0.9615657234367121,
       "method": "task_memory",
       "negative_near_0p20": 0.017451690821256038,
       "negative_near_0p40": 0.1108695652173913,
       "num_rows": 69,
+      "pos_closer_than_neg": 0.5852941176470589,
       "pptc_0p20": 0.3188405797101449,
       "pptc_0p40": 0.5362318840579711,
       "proxy_gate_pass": false,
@@ -42,12 +48,15 @@
     {
       "beats_local_atlas_support": true,
       "candidate_diversity": 0.27027754304306056,
+      "collapse_rate": 0.06806780176345395,
       "data_hash": "90b431047a1f35cec095cbafa7de5bc0126cb0d0f4db3ff31843dca369977957",
+      "mean_negative_distance": 0.5291780433921461,
       "mean_positive_distance": 0.45091308311397055,
       "method": "ctt_residual_full",
       "negative_near_0p20": 0.029584063279715453,
       "negative_near_0p40": 0.289941117658509,
       "num_rows": 207,
+      "pos_closer_than_neg": 0.7351920682803036,
       "pptc_0p20": 0.19806763285024154,
       "pptc_0p40": 0.608695652173913,
       "proxy_gate_pass": true,
@@ -60,12 +69,15 @@
     {
       "beats_local_atlas_support": true,
       "candidate_diversity": 0.24708366700914647,
+      "collapse_rate": 0.06806780176345395,
       "data_hash": "90b431047a1f35cec095cbafa7de5bc0126cb0d0f4db3ff31843dca369977957",
+      "mean_negative_distance": 0.5274893750999132,
       "mean_positive_distance": 0.44291597778605085,
       "method": "ctt_residual_base_context",
       "negative_near_0p20": 0.018245341614906832,
       "negative_near_0p40": 0.28596910336040765,
       "num_rows": 69,
+      "pos_closer_than_neg": 0.7576806363571069,
       "pptc_0p20": 0.17391304347826086,
       "pptc_0p40": 0.6231884057971014,
       "proxy_gate_pass": true,
@@ -78,12 +90,15 @@
     {
       "beats_local_atlas_support": true,
       "candidate_diversity": 0.23968052668773945,
+      "collapse_rate": 0.06806780176345395,
       "data_hash": "1d15143588697e89f7fc2f6375b2745e4d479c726c9a947ff7eb7b2705280e1a",
+      "mean_negative_distance": 0.5130644364599437,
       "mean_positive_distance": 0.43468703005975967,
       "method": "ctt_residual_base_context_obs",
       "negative_near_0p20": 0.034336456619065314,
       "negative_near_0p40": 0.30197859708729274,
       "num_rows": 207,
+      "pos_closer_than_neg": 0.7717469893940482,
       "pptc_0p20": 0.24637681159420288,
       "pptc_0p40": 0.6425120772946861,
       "proxy_gate_pass": true,
@@ -96,12 +111,15 @@
     {
       "beats_local_atlas_support": true,
       "candidate_diversity": 0.24174490402345686,
+      "collapse_rate": 0.06830470254383299,
       "data_hash": "67f7b4a692f7c7e71da24378dc71e3399c5d35afc14c494869eba6087b765c42",
+      "mean_negative_distance": 0.5216229740528893,
       "mean_positive_distance": 0.43402743826233176,
       "method": "ctt_residual_base_context_obj",
       "negative_near_0p20": 0.038024455415759766,
       "negative_near_0p40": 0.30944174585478934,
       "num_rows": 207,
+      "pos_closer_than_neg": 0.7307419976537622,
       "pptc_0p20": 0.22705314009661837,
       "pptc_0p40": 0.6425120772946861,
       "proxy_gate_pass": true,
@@ -114,12 +132,15 @@
     {
       "beats_local_atlas_support": true,
       "candidate_diversity": 0.2447676812446944,
+      "collapse_rate": 0.06830470254383299,
       "data_hash": "67f7b4a692f7c7e71da24378dc71e3399c5d35afc14c494869eba6087b765c42",
+      "mean_negative_distance": 0.5333629090899681,
       "mean_positive_distance": 0.4429413077106721,
       "method": "ctt_residual_base_context_obs_obj",
       "negative_near_0p20": 0.02853647962343615,
       "negative_near_0p40": 0.2934249526640831,
       "num_rows": 207,
+      "pos_closer_than_neg": 0.7277074505015682,
       "pptc_0p20": 0.20772946859903382,
       "pptc_0p40": 0.642512077294686,
       "proxy_gate_pass": true,
@@ -132,12 +153,15 @@
     {
       "beats_local_atlas_support": true,
       "candidate_diversity": 0.1163743674776266,
+      "collapse_rate": 0.06806780176345395,
       "data_hash": "90b431047a1f35cec095cbafa7de5bc0126cb0d0f4db3ff31843dca369977957",
+      "mean_negative_distance": 0.5050016174085634,
       "mean_positive_distance": 0.4336709210379143,
       "method": "ctt_gated_residual_full",
       "negative_near_0p20": 0.05269106899541682,
       "negative_near_0p40": 0.33921316203924895,
       "num_rows": 207,
+      "pos_closer_than_neg": 0.7247617850559026,
       "pptc_0p20": 0.2318840579710145,
       "pptc_0p40": 0.6135265700483091,
       "proxy_gate_pass": false,
@@ -149,5 +173,6 @@
     }
   ],
   "safety_slack": 0.01,
+  "schema_version": 2,
   "split_hash": "9d1dc1c10868f76fa080895df0f2730c173f12b6db14932599d55c2b60859381"
 }

runs/ctt_val_proxy_comparison/metrics_by_task.json

@@ -1 +1,498 @@
-{}
+{
+  "ctt_gated_residual_full": {
+    "LiftPegUpright-v1": {
+      "candidate_diversity": 0.05970962647106902,
+      "collapse_rate": 0.07311091686091686,
+      "mean_negative_distance": 0.3839348728146849,
+      "mean_positive_distance": 0.25572830294882354,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.53125,
+      "pos_closer_than_neg": 0.9444444444444444,
+      "pptc_0p20": 0.5,
+      "pptc_0p40": 0.8888888888888888,
+      "proxy_support_distance": 0.23664649313175856
+    },
+    "PickCube-v1": {
+      "candidate_diversity": 0.2021307744588189,
+      "collapse_rate": 0.10000000000000002,
+      "mean_negative_distance": 0.5829484689774836,
+      "mean_positive_distance": 0.576577907999753,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.3333333333333333,
+      "pos_closer_than_neg": 0.7666666666666666,
+      "pptc_0p20": 0.0,
+      "pptc_0p40": 0.3333333333333333,
+      "proxy_support_distance": 0.4443502650555026
+    },
+    "PullCube-v1": {
+      "candidate_diversity": 0.14847138063951565,
+      "collapse_rate": 0.06404465632406808,
+      "mean_negative_distance": 0.7041678688460474,
+      "mean_positive_distance": 0.592154236746947,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.05861928104575163,
+      "pos_closer_than_neg": 0.6517195767195768,
+      "pptc_0p20": 0.029411764705882353,
+      "pptc_0p40": 0.3137254901960784,
+      "proxy_support_distance": 0.5373627305388711
+    },
+    "PushCube-v1": {
+      "candidate_diversity": 0.05417944485503618,
+      "collapse_rate": 0.06478937728937728,
+      "mean_negative_distance": 0.3979735192222798,
+      "mean_positive_distance": 0.2811870120807798,
+      "negative_near_0p20": 0.08974358974358974,
+      "negative_near_0p40": 0.44871794871794873,
+      "pos_closer_than_neg": 0.625,
+      "pptc_0p20": 0.3076923076923077,
+      "pptc_0p40": 0.9230769230769231,
+      "proxy_support_distance": 0.26109739578233915
+    },
+    "StackCube-v1": {
+      "candidate_diversity": 0.11447220652079974,
+      "collapse_rate": 0.07588217338217343,
+      "mean_negative_distance": 0.3264807588283944,
+      "mean_positive_distance": 0.268244707965138,
+      "negative_near_0p20": 0.16460113960113962,
+      "negative_near_0p40": 0.8038990638990638,
+      "pos_closer_than_neg": 0.7895604395604395,
+      "pptc_0p20": 0.5333333333333333,
+      "pptc_0p40": 0.9333333333333333,
+      "proxy_support_distance": 0.2277182791599637
+    }
+  },
+  "ctt_residual_base_context": {
+    "LiftPegUpright-v1": {
+      "candidate_diversity": 0.14362703522993195,
+      "collapse_rate": 0.07311091686091686,
+      "mean_negative_distance": 0.41497127070807355,
+      "mean_positive_distance": 0.2305104051790113,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.5,
+      "pos_closer_than_neg": 1.0,
+      "pptc_0p20": 0.6666666666666666,
+      "pptc_0p40": 1.0,
+      "proxy_support_distance": 0.2014216883582193
+    },
+    "PickCube-v1": {
+      "candidate_diversity": 0.25660266524569825,
+      "collapse_rate": 0.1,
+      "mean_negative_distance": 0.899796341697192,
+      "mean_positive_distance": 0.9817664760096816,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.0,
+      "pos_closer_than_neg": 0.2,
+      "pptc_0p20": 0.0,
+      "pptc_0p40": 0.0,
+      "proxy_support_distance": 0.7855270291361975
+    },
+    "PullCube-v1": {
+      "candidate_diversity": 0.3216694071900426,
+      "collapse_rate": 0.06404465632406808,
+      "mean_negative_distance": 0.6926077604425354,
+      "mean_positive_distance": 0.5696106164927525,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.02022058823529412,
+      "pos_closer_than_neg": 0.6978174603174603,
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+      "pptc_0p40": 0.38235294117647056,
+      "proxy_support_distance": 0.4743135938351562
+    },
+    "PushCube-v1": {
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+      "pptc_0p40": 0.8461538461538461,
+      "proxy_support_distance": 0.267084673449308
+    },
+    "StackCube-v1": {
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+      "proxy_support_distance": 0.2492223974983373
+    }
+  },
+  "ctt_residual_base_context_obj": {
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+      "proxy_support_distance": 0.22436331113570077
+    },
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+      "pptc_0p20": 0.0,
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+      "proxy_support_distance": 0.7622612941754188
+    },
+    "PullCube-v1": {
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+      "proxy_support_distance": 0.20483640069851286
+    }
+  },
+  "ctt_residual_base_context_obs": {
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+      "proxy_support_distance": 0.6021893630844198
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+      "proxy_support_distance": 0.2586271514743408
+    },
+    "StackCube-v1": {
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+      "proxy_support_distance": 0.22536104103963187
+    }
+  },
+  "ctt_residual_base_context_obs_obj": {
+    "LiftPegUpright-v1": {
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+      "proxy_support_distance": 0.22818479501118874
+    },
+    "PickCube-v1": {
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+      "pptc_0p40": 0.0,
+      "proxy_support_distance": 0.9803242549573113
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+    "PullCube-v1": {
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+      "proxy_support_distance": 0.47243182399485906
+    },
+    "PushCube-v1": {
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+      "pptc_0p40": 0.9230769230769231,
+      "proxy_support_distance": 0.27338380647453003
+    },
+    "StackCube-v1": {
+      "candidate_diversity": 0.17579507499334182,
+      "collapse_rate": 0.07697191697191702,
+      "mean_negative_distance": 0.3332039593498869,
+      "mean_positive_distance": 0.28734001912661167,
+      "negative_near_0p20": 0.09237891737891737,
+      "negative_near_0p40": 0.7804884004884005,
+      "pos_closer_than_neg": 0.7293905168905168,
+      "pptc_0p20": 0.5111111111111111,
+      "pptc_0p40": 0.9111111111111111,
+      "proxy_support_distance": 0.225556820839634
+    }
+  },
+  "ctt_residual_full": {
+    "LiftPegUpright-v1": {
+      "candidate_diversity": 0.16663572531428117,
+      "collapse_rate": 0.07311091686091686,
+      "mean_negative_distance": 0.41647353998567643,
+      "mean_positive_distance": 0.2771405265426538,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.468215811965812,
+      "pos_closer_than_neg": 0.90625,
+      "pptc_0p20": 0.4444444444444444,
+      "pptc_0p40": 0.8888888888888888,
+      "proxy_support_distance": 0.225699402965728
+    },
+    "PickCube-v1": {
+      "candidate_diversity": 0.2841252624025221,
+      "collapse_rate": 0.10000000000000002,
+      "mean_negative_distance": 0.7853855604157447,
+      "mean_positive_distance": 0.8107379646608238,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.06666666666666667,
+      "pos_closer_than_neg": 0.7333333333333334,
+      "pptc_0p20": 0.0,
+      "pptc_0p40": 0.3333333333333333,
+      "proxy_support_distance": 0.5973002537013845
+    },
+    "PullCube-v1": {
+      "candidate_diversity": 0.35669628571891027,
+      "collapse_rate": 0.06404465632406808,
+      "mean_negative_distance": 0.7141779455036535,
+      "mean_positive_distance": 0.5869452164166006,
+      "negative_near_0p20": 0.0,
+      "negative_near_0p40": 0.0196078431372549,
+      "pos_closer_than_neg": 0.6872354497354497,
+      "pptc_0p20": 0.029411764705882353,
+      "pptc_0p40": 0.3235294117647059,
+      "proxy_support_distance": 0.48532493799704673
+    },
+    "PushCube-v1": {
+      "candidate_diversity": 0.1897940504075825,
+      "collapse_rate": 0.06478937728937728,
+      "mean_negative_distance": 0.4571901910242416,
+      "mean_positive_distance": 0.33455829528179704,
+      "negative_near_0p20": 0.03685897435897436,
+      "negative_near_0p40": 0.36217948717948717,
+      "pos_closer_than_neg": 0.7239583333333334,
+      "pptc_0p20": 0.1282051282051282,
+      "pptc_0p40": 0.8717948717948718,
+      "proxy_support_distance": 0.27709473619662045
+    },
+    "StackCube-v1": {
+      "candidate_diversity": 0.18468096572943052,
+      "collapse_rate": 0.07588217338217343,
+      "mean_negative_distance": 0.33657300192660006,
+      "mean_positive_distance": 0.28893509427463027,
+      "negative_near_0p20": 0.10414224664224664,
+      "negative_near_0p40": 0.7836650386650388,
+      "pos_closer_than_neg": 0.7400234025234025,
+      "pptc_0p20": 0.5555555555555556,
+      "pptc_0p40": 0.9333333333333333,
+      "proxy_support_distance": 0.22290972126483205
+    }
+  },
+  "local_atlas": {
+    "LiftPegUpright-v1": {
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+      "collapse_rate": 0.07219516594516594,
+      "mean_negative_distance": 0.4854021065936647,
+      "mean_positive_distance": 0.43646670032063084,
+      "negative_near_0p20": 0.027777777777777776,
+      "negative_near_0p40": 0.24219877344877347,
+      "pos_closer_than_neg": 0.7192460317460317,
+      "pptc_0p20": 0.5,
+      "pptc_0p40": 1.0,
+      "proxy_support_distance": 0.18189470652155995
+    },
+    "PickCube-v1": {
+      "candidate_diversity": 1.0944000325107157,
+      "collapse_rate": 0.1,
+      "mean_negative_distance": 0.6373729677105011,
+      "mean_positive_distance": 0.7798613153680638,
+      "negative_near_0p20": 0.3,
+      "negative_near_0p40": 0.4,
+      "pos_closer_than_neg": 0.6,
+      "pptc_0p20": 1.0,
+      "pptc_0p40": 1.0,
+      "proxy_support_distance": 0.07461591163524217
+    },
+    "PullCube-v1": {
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+      "collapse_rate": 0.06316930618401206,
+      "mean_negative_distance": 0.9870468132552196,
+      "mean_positive_distance": 0.9460291977432415,
+      "negative_near_0p20": 0.003676470588235294,
+      "negative_near_0p40": 0.039460784313725496,
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+      "pptc_0p20": 0.058823529411764705,
+      "pptc_0p40": 0.38235294117647056,
+      "proxy_support_distance": 0.5490009012121931
+    },
+    "PushCube-v1": {
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+      "proxy_support_distance": 0.21488945685319283
+    },
+    "StackCube-v1": {
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+      "pptc_0p40": 1.0,
+      "proxy_support_distance": 0.15391202596431447
+    }
+  },
+  "task_memory": {
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+      "collapse_rate": 0.0625,
+      "mean_negative_distance": 0.583368643118901,
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+      "negative_near_0p20": 0.010416666666666666,
+      "negative_near_0p40": 0.13541666666666666,
+      "pos_closer_than_neg": 0.6875,
+      "pptc_0p20": 0.5,
+      "pptc_0p40": 1.0,
+      "proxy_support_distance": 0.20479276324345116
+    },
+    "PickCube-v1": {
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+      "collapse_rate": 0.06666666666666667,
+      "mean_negative_distance": 0.8095929802695191,
+      "mean_positive_distance": 0.9291008275018162,
+      "negative_near_0p20": 0.26666666666666666,
+      "negative_near_0p40": 0.4,
+      "pos_closer_than_neg": 0.6,
+      "pptc_0p20": 1.0,
+      "pptc_0p40": 1.0,
+      "proxy_support_distance": 0.07461591163524217
+    },
+    "PullCube-v1": {
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+      "mean_negative_distance": 1.383142918984482,
+      "mean_positive_distance": 1.3657646662805298,
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+      "negative_near_0p40": 0.0,
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+      "pptc_0p40": 0.08823529411764706,
+      "proxy_support_distance": 0.8291223046675316
+    },
+    "PushCube-v1": {
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+      "collapse_rate": 0.0625,
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+      "negative_near_0p20": 0.014423076923076924,
+      "negative_near_0p40": 0.07211538461538461,
+      "pos_closer_than_neg": 0.609375,
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+      "pptc_0p40": 0.9230769230769231,
+      "proxy_support_distance": 0.26447355510409054
+    },
+    "StackCube-v1": {
+      "candidate_diversity": 0.5251579967031662,
+      "collapse_rate": 0.0625,
+      "mean_negative_distance": 0.5187021685529322,
+      "mean_positive_distance": 0.48864024429118186,
+      "negative_near_0p20": 0.04583333333333333,
+      "negative_near_0p40": 0.36666666666666664,
+      "pos_closer_than_neg": 0.6875,
+      "pptc_0p20": 0.8,
+      "pptc_0p40": 1.0,
+      "proxy_support_distance": 0.17466840356416174
+    }
+  }
+}

runs/ctt_val_proxy_comparison/table.tex

@@ -1,15 +1,15 @@
 % Auto-generated by scripts/build_ctt_proxy_comparison.py
-\begin{tabular}{lrrrrrrrc}
+\begin{tabular}{lrrrrrrrrrrc}
 \toprule
-Method & Seeds & Rows & PPTC@0.20 & PPTC@0.40 & Neg@0.20 & MeanPosDist & Diversity & Gate \\
+Method & Seeds & Rows & PPTC@0.20 & PPTC@0.40 & Neg@0.20 & Neg@0.40 & Pos<Neg & MeanPos & MeanNeg & Collapse & Gate \\
 \midrule
-local\_atlas & 1 & 69 & 0.4058 & 0.6812 & 0.0368 & 0.7203 & 0.8219 & baseline \\
-task\_memory & 1 & 69 & 0.3188 & 0.5362 & 0.0175 & 0.9616 & 0.9751 & baseline \\
-ctt\_residual\_full & 3 & 207 & 0.1981 & 0.6087 & 0.0296 & 0.4509 & 0.2703 & pass \\
-ctt\_residual\_base\_context & 1 & 69 & 0.1739 & 0.6232 & 0.0182 & 0.4429 & 0.2471 & pass \\
-ctt\_residual\_base\_context\_obs & 3 & 207 & 0.2464 & 0.6425 & 0.0343 & 0.4347 & 0.2397 & pass \\
-ctt\_residual\_base\_context\_obj & 3 & 207 & 0.2271 & 0.6425 & 0.0380 & 0.4340 & 0.2417 & pass \\
-ctt\_residual\_base\_context\_obs\_obj & 3 & 207 & 0.2077 & 0.6425 & 0.0285 & 0.4429 & 0.2448 & pass \\
-ctt\_gated\_residual\_full & 3 & 207 & 0.2319 & 0.6135 & 0.0527 & 0.4337 & 0.1164 & fail \\
+local\_atlas & 1 & 69 & 0.4058 & 0.6812 & 0.0368 & 0.2051 & 0.5998 & 0.7203 & 0.6789 & 0.0661 & baseline \\
+task\_memory & 1 & 69 & 0.3188 & 0.5362 & 0.0175 & 0.1109 & 0.5853 & 0.9616 & 0.9219 & 0.0626 & baseline \\
+ctt\_residual\_full & 3 & 207 & 0.1981 & 0.6087 & 0.0296 & 0.2899 & 0.7352 & 0.4509 & 0.5292 & 0.0681 & pass \\
+ctt\_residual\_base\_context & 1 & 69 & 0.1739 & 0.6232 & 0.0182 & 0.2860 & 0.7577 & 0.4429 & 0.5275 & 0.0681 & pass \\
+ctt\_residual\_base\_context\_obs & 3 & 207 & 0.2464 & 0.6425 & 0.0343 & 0.3020 & 0.7717 & 0.4347 & 0.5131 & 0.0681 & pass \\
+ctt\_residual\_base\_context\_obj & 3 & 207 & 0.2271 & 0.6425 & 0.0380 & 0.3094 & 0.7307 & 0.4340 & 0.5216 & 0.0683 & pass \\
+ctt\_residual\_base\_context\_obs\_obj & 3 & 207 & 0.2077 & 0.6425 & 0.0285 & 0.2934 & 0.7277 & 0.4429 & 0.5334 & 0.0683 & pass \\
+ctt\_gated\_residual\_full & 3 & 207 & 0.2319 & 0.6135 & 0.0527 & 0.3392 & 0.7248 & 0.4337 & 0.5050 & 0.0681 & fail \\
 \bottomrule
 \end{tabular}