auto-sync 2026-07-02T20:07:13Z workspace (part 5)

workspace/outputs/hpc/logs/v1_advw2p0_gate0_15069082_0.err

@@ -0,0 +1,10 @@
+2026-07-02 15:23:12,048 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:14,034 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:16,079 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:18,204 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:20,249 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:22,380 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:24,421 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:26,544 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:28,584 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:30,651 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_advw2p0_gate0_15069082_0.out

@@ -0,0 +1,150 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": 0.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 2.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.36695652173913046,
+  "policy_rollout_progress": 0.5694765353704924,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.860784433019226,
+  "policy_expert_regret": 0.7992557281725433,
+  "action_mse_to_best": 0.43498127313573726,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
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+      "policy_rollout_success_rate": 0.21649484536082475,
+      "policy_rollout_progress": 0.5619192553549698,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.1246023943129273,
+      "policy_expert_regret": 1.0981869166044844,
+      "action_mse_to_best": 0.3360233759008271,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.34134615384615385,
+      "policy_rollout_progress": 0.6113516335205461,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 0.9860745732126256,
+      "policy_expert_regret": 0.9726517057861201,
+      "action_mse_to_best": 0.3295289056841284,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.24675324675324675,
+      "policy_rollout_progress": 0.3519601415262207,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.3849640779148836,
+      "policy_expert_regret": 0.26093534871258517,
+      "action_mse_to_best": 0.6327188756171759,
+      "restore_max_error": 2.3096799850463867e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7553191489361702,
+      "policy_rollout_progress": 0.7683361703728108,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.47634468069101904,
+      "policy_expert_regret": 0.41785949008895995,
+      "action_mse_to_best": 0.45443009228465403,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.29292929292929293,
+      "policy_rollout_progress": 0.4692643372097401,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.074166379041142,
+      "policy_expert_regret": 0.9228842834932636,
+      "action_mse_to_best": 0.5812340415261611,
+      "restore_max_error": 2.384185791015625e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 300,
+    "retrieval_residual_residual_near_miss": 158,
+    "retrieval_residual_residual_wrong_gripper": 56,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 27,
+    "retrieval_residual_residual_wrong_gripper+residual_near_miss": 3,
+    "retrieval_residual_residual_no_op": 27,
+    "retrieval_residual_residual_no_op+residual_near_miss": 3,
+    "retrieval_residual_residual_wrong_gripper+residual_no_op": 1
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 437,
+    "0.45": 112,
+    "0.4": 26
+  }
+}

workspace/outputs/hpc/logs/v1_advw2p0_gate0_15069082_1.err

@@ -0,0 +1,10 @@
+2026-07-02 15:23:00,625 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:02,665 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:04,743 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:06,793 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:08,827 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:10,947 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:13,054 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:15,163 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:17,226 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:19,348 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_advw2p0_gate0_15069082_1.out

@@ -0,0 +1,149 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": 0.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 2.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.35130434782608694,
+  "policy_rollout_progress": 0.5735185124835824,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8885202659717786,
+  "policy_expert_regret": 0.812155325890825,
+  "action_mse_to_best": 0.4576410755636575,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
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+      "policy_rollout_success_rate": 0.23893805309734514,
+      "policy_rollout_progress": 0.6398482869947906,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.0534138812691765,
+      "policy_expert_regret": 0.974211851184347,
+      "action_mse_to_best": 0.38506688071678563,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.30434782608695654,
+      "policy_rollout_progress": 0.5761561171814759,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.0582001713008378,
+      "policy_expert_regret": 1.0581761668259075,
+      "action_mse_to_best": 0.3433770112207402,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.18421052631578946,
+      "policy_rollout_progress": 0.30254631491152395,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.536493563321959,
+      "policy_expert_regret": 0.29284191022117356,
+      "action_mse_to_best": 0.6317151484912947,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8198198198198198,
+      "policy_rollout_progress": 0.8336036210661536,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.34657655911402657,
+      "policy_expert_regret": 0.32940899198119705,
+      "action_mse_to_best": 0.43316389492771645,
+      "restore_max_error": 2.3795291781425476e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.15384615384615385,
+      "policy_rollout_progress": 0.3948795693916279,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.295725757767866,
+      "policy_expert_regret": 1.1360282991286164,
+      "action_mse_to_best": 0.6632763433096173,
+      "restore_max_error": 1.9371509552001953e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 248,
+    "retrieval_residual_residual_wrong_gripper": 42,
+    "retrieval_residual_residual_near_miss": 161,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 26,
+    "retrieval_residual_residual_no_op": 83,
+    "retrieval_residual_residual_wrong_gripper+residual_no_op": 6,
+    "retrieval_residual_residual_no_op+residual_near_miss": 9
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 365,
+    "0.4": 34,
+    "0.45": 176
+  }
+}

workspace/outputs/hpc/logs/v1_advw2p0_gate0_15069082_2.err

@@ -0,0 +1,12 @@
+2026-07-02 15:16:47,053 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:49,187 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:51,286 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:53,340 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:55,443 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:57,530 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:59,625 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:01,779 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:03,827 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:05,924 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:07,974 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:10,113 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_advw2p0_gate0_15069082_2.out

@@ -0,0 +1,150 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": 0.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 2.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.38956521739130434,
+  "policy_rollout_progress": 0.6016312312059429,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8247477648552993,
+  "policy_expert_regret": 0.7575006256106755,
+  "action_mse_to_best": 0.4754429818479263,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.34375,
+      "policy_rollout_progress": 0.6503640354300538,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9394944878295064,
+      "policy_expert_regret": 0.8331976604337493,
+      "action_mse_to_best": 0.4120352760946844,
+      "restore_max_error": 1.955777406692505e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.3282828282828283,
+      "policy_rollout_progress": 0.6317790904637388,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.0018940838994552,
+      "policy_expert_regret": 0.9948106333707468,
+      "action_mse_to_best": 0.3519154448965282,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.2777777777777778,
+      "policy_rollout_progress": 0.38617517553890746,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.4284196932800114,
+      "policy_expert_regret": 0.28493897081870173,
+      "action_mse_to_best": 0.7018987307945888,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.8415841584158416,
+      "policy_rollout_progress": 0.8548741747837255,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.3035416668004329,
+      "policy_expert_regret": 0.2849623136001058,
+      "action_mse_to_best": 0.481109909565732,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.17777777777777778,
+      "policy_rollout_progress": 0.41458547976281906,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.293866495622529,
+      "policy_expert_regret": 1.1575297541088527,
+      "action_mse_to_best": 0.5820231481144825,
+      "restore_max_error": 2.2351741790771484e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 271,
+    "retrieval_residual_residual_near_miss": 160,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 27,
+    "retrieval_residual_residual_wrong_gripper": 45,
+    "retrieval_residual_residual_no_op": 64,
+    "retrieval_residual_residual_no_op+residual_near_miss": 2,
+    "retrieval_residual_residual_wrong_gripper+residual_no_op": 5,
+    "retrieval_residual_residual_wrong_gripper+residual_near_miss": 1
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 406,
+    "0.45": 132,
+    "0.4": 37
+  }
+}

workspace/outputs/hpc/logs/v1_advw4p0_15069076_0.err

@@ -0,0 +1,10 @@
+2026-07-02 15:20:09,474 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:11,577 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:13,663 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:15,828 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:17,955 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:20,096 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:22,225 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:24,349 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:26,458 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:28,547 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_advw4p0_15069076_0.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 4.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.3652173913043478,
+  "policy_rollout_progress": 0.576676478124632,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.8522379870798972,
+  "policy_expert_regret": 0.7874944907156716,
+  "action_mse_to_best": 0.4974852632974153,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.20618556701030927,
+      "policy_rollout_progress": 0.5590392544711988,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.1377916735472138,
+      "policy_expert_regret": 1.111376195838771,
+      "action_mse_to_best": 0.345563288864478,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.3605769230769231,
+      "policy_rollout_progress": 0.6201092629478528,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 0.9580861745545497,
+      "policy_expert_regret": 0.9513086464542609,
+      "action_mse_to_best": 0.456300992733584,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.23376623376623376,
+      "policy_rollout_progress": 0.34126044169597003,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.40916589678159815,
+      "policy_expert_regret": 0.2383645014247495,
+      "action_mse_to_best": 0.6299688305173602,
+      "restore_max_error": 2.3096799850463867e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7446808510638298,
+      "policy_rollout_progress": 0.7592489960345816,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.47644254121374574,
+      "policy_expert_regret": 0.41787898318564637,
+      "action_mse_to_best": 0.49441769481339354,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.2727272727272727,
+      "policy_rollout_progress": 0.5124543525955894,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.051492454578178,
+      "policy_expert_regret": 0.9040298148839161,
+      "action_mse_to_best": 0.6327365416694771,
+      "restore_max_error": 2.384185791015625e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 198,
+    "retrieval_residual_residual_near_miss": 98,
+    "retrieval_residual_residual_wrong_gripper": 154,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 76,
+    "retrieval_residual_residual_no_op": 49
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 355,
+    "0.45": 148,
+    "0.4": 72
+  }
+}

workspace/outputs/hpc/logs/v1_advw4p0_15069076_1.err

@@ -0,0 +1,10 @@
+2026-07-02 15:20:01,339 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:03,390 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:05,478 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:07,544 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:09,594 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:11,690 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:13,801 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:15,843 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:17,875 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:19,933 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_advw4p0_15069076_1.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
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+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
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+  "candidate_sigma": 0.0,
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+  "retrieval_neighbors": 6,
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+  "retrieval_residual_consensus_penalty_scale": 0.0,
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+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
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+    "PickCube-v1": 0.01,
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+  "retrieval_residual_source_advantage_weight_scale": 4.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
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+    0.4,
+    0.45
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+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
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+  "policy_oracle_regret": 0.8594728955545503,
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+  "action_mse_to_best": 0.5146053172963793,
+  "restore_max_error": 2.384185791015625e-07,
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+      "policy_rollout_success_rate": 0.23893805309734514,
+      "policy_rollout_progress": 0.6344843103294879,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
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+      "action_mse_to_best": 0.4054089086336306,
+      "restore_max_error": 2.384185791015625e-07
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+    "PickCube-v1": {
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+      "policy_rollout_success_rate": 0.29891304347826086,
+      "policy_rollout_progress": 0.5658004574285335,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.0739906136624757,
+      "policy_expert_regret": 1.0739666091875457,
+      "action_mse_to_best": 0.4513823625469661,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
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+      "policy_rollout_success_rate": 0.23684210526315788,
+      "policy_rollout_progress": 0.3468795389819302,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.41359174599576937,
+      "policy_expert_regret": 0.2395849796012044,
+      "action_mse_to_best": 0.6756443924417621,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8378378378378378,
+      "policy_rollout_progress": 0.8497250178107271,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.31243714435143516,
+      "policy_expert_regret": 0.2952695772186056,
+      "action_mse_to_best": 0.43114926941222975,
+      "restore_max_error": 2.3795291781425476e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.1978021978021978,
+      "policy_rollout_progress": 0.42876743304205467,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.2178818501613953,
+      "policy_expert_regret": 1.0458070232972994,
+      "action_mse_to_best": 0.7453401464927982,
+      "restore_max_error": 1.9371509552001953e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 184,
+    "retrieval_residual_residual_wrong_gripper": 108,
+    "retrieval_residual_residual_near_miss": 82,
+    "retrieval_residual_residual_no_op": 127,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 74
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 311,
+    "0.45": 217,
+    "0.4": 47
+  }
+}

workspace/outputs/hpc/logs/v1_advw4p0_15069076_2.err

@@ -0,0 +1,12 @@
+2026-07-02 15:20:00,185 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:02,259 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:04,403 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:06,463 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:08,595 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:10,678 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:12,777 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:14,881 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:16,964 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:19,002 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:21,059 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:23,179 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_advw4p0_15069076_2.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 4.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "expert",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.3826086956521739,
+  "policy_rollout_progress": 0.601428622967847,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8311025439899253,
+  "policy_expert_regret": 0.7592233843469749,
+  "action_mse_to_best": 0.5306954161515054,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.34375,
+      "policy_rollout_progress": 0.6506505594588816,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9392079638006786,
+      "policy_expert_regret": 0.8196508556914827,
+      "action_mse_to_best": 0.44579967874839593,
+      "restore_max_error": 1.955777406692505e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.3181818181818182,
+      "policy_rollout_progress": 0.6228315381502564,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.020942646313948,
+      "policy_expert_regret": 1.0138591957852394,
+      "action_mse_to_best": 0.4667625424894269,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.24444444444444444,
+      "policy_rollout_progress": 0.35248699988135035,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.4773602064595454,
+      "policy_expert_regret": 0.3312447832793825,
+      "action_mse_to_best": 0.6834456741809845,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.8514851485148515,
+      "policy_rollout_progress": 0.8648294326987597,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.2836854187863888,
+      "policy_expert_regret": 0.26510606558606176,
+      "action_mse_to_best": 0.512414920669381,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.17777777777777778,
+      "policy_rollout_progress": 0.4551861916979154,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.2662078713377316,
+      "policy_expert_regret": 1.117056666314602,
+      "action_mse_to_best": 0.6296677116718558,
+      "restore_max_error": 2.2351741790771484e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 202,
+    "retrieval_residual_residual_no_op": 73,
+    "retrieval_residual_residual_near_miss": 97,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 80,
+    "retrieval_residual_residual_wrong_gripper": 123
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 344,
+    "0.45": 161,
+    "0.4": 70
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw1p0_15069078_0.err

@@ -0,0 +1,10 @@
+2026-07-02 15:20:06,338 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:08,397 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:10,439 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:12,613 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:14,683 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:16,842 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:18,928 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:21,080 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:23,170 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:25,262 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw1p0_15069078_0.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 1.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.3791304347826087,
+  "policy_rollout_progress": 0.584225173432218,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.8380668723372662,
+  "policy_expert_regret": 0.7748060557327193,
+  "action_mse_to_best": 0.5013779968104285,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
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+      "policy_rollout_success_rate": 0.21649484536082475,
+      "policy_rollout_progress": 0.560619557487596,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.1259020921803011,
+      "policy_expert_regret": 1.0994866144718582,
+      "action_mse_to_best": 0.34774401688890666,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.3557692307692308,
+      "policy_rollout_progress": 0.6177481525855211,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 0.9652549772245738,
+      "policy_expert_regret": 0.9584774491242849,
+      "action_mse_to_best": 0.4656195876976618,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.2987012987012987,
+      "policy_rollout_progress": 0.395646373777614,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.3344754918974328,
+      "policy_expert_regret": 0.18962853963111903,
+      "action_mse_to_best": 0.6188191903101934,
+      "restore_max_error": 2.3096799850463867e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7553191489361702,
+      "policy_rollout_progress": 0.7695756990541803,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.45547754032180665,
+      "policy_expert_regret": 0.3969139822937073,
+      "action_mse_to_best": 0.5070772077491943,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.29292929292929293,
+      "policy_rollout_progress": 0.507604802196676,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.0437718355896497,
+      "policy_expert_regret": 0.884733930681691,
+      "action_mse_to_best": 0.6302825162055516,
+      "restore_max_error": 2.384185791015625e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 198,
+    "retrieval_residual_residual_wrong_gripper": 177,
+    "retrieval_residual_residual_near_miss": 77,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 67,
+    "retrieval_residual_residual_no_op": 56
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 344,
+    "0.45": 147,
+    "0.4": 84
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw1p0_15069078_1.err

@@ -0,0 +1,10 @@
+2026-07-02 15:20:11,001 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:13,075 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:15,162 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:17,227 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:19,299 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:21,472 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:23,574 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:25,657 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:27,704 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:20:29,777 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw1p0_15069078_1.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 1.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.37565217391304345,
+  "policy_rollout_progress": 0.5895823166373632,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.841825987442356,
+  "policy_expert_regret": 0.7840852385030492,
+  "action_mse_to_best": 0.5149549319684181,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.23893805309734514,
+      "policy_rollout_progress": 0.6346419230762836,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.047329495570301,
+      "policy_expert_regret": 0.9791655188376924,
+      "action_mse_to_best": 0.41386533976507794,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.30434782608695654,
+      "policy_rollout_progress": 0.573474009647844,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.0685109185895114,
+      "policy_expert_regret": 1.0684869141145812,
+      "action_mse_to_best": 0.4552130797958892,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.23684210526315788,
+      "policy_rollout_progress": 0.34846177653066424,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.3887315520428513,
+      "policy_expert_regret": 0.23966128697716876,
+      "action_mse_to_best": 0.6736705512984803,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8468468468468469,
+      "policy_rollout_progress": 0.8586456687063784,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.2945074844467747,
+      "policy_expert_regret": 0.2773399173139452,
+      "action_mse_to_best": 0.43252414975080405,
+      "restore_max_error": 2.3795291781425476e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.23076923076923078,
+      "policy_rollout_progress": 0.43937706308705465,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.1743051871493622,
+      "policy_expert_regret": 1.039590414081301,
+      "action_mse_to_best": 0.7292742119221897,
+      "restore_max_error": 1.9371509552001953e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 181,
+    "retrieval_residual_residual_wrong_gripper": 117,
+    "retrieval_residual_residual_near_miss": 73,
+    "retrieval_residual_residual_no_op": 129,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 75
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 308,
+    "0.4": 45,
+    "0.45": 222
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw1p0_15069078_2.err

@@ -0,0 +1,12 @@
+2026-07-02 15:24:35,204 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:37,305 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:39,480 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:41,564 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:43,701 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:45,805 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:47,894 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:50,039 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:52,109 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:54,188 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:56,267 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:58,420 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw1p0_15069078_2.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 1.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.39652173913043476,
+  "policy_rollout_progress": 0.6105689845622881,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8059035603669674,
+  "policy_expert_regret": 0.7413233619280484,
+  "action_mse_to_best": 0.5258358840757738,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.3541666666666667,
+      "policy_rollout_progress": 0.6554166648226479,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9240251917702457,
+      "policy_expert_regret": 0.8177533126436174,
+      "action_mse_to_best": 0.4465993321015655,
+      "restore_max_error": 1.955777406692505e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.3383838383838384,
+      "policy_rollout_progress": 0.6313336513409711,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 0.9922385129212129,
+      "policy_expert_regret": 0.9851550623925045,
+      "action_mse_to_best": 0.457854955711148,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.25555555555555554,
+      "policy_rollout_progress": 0.36531863392641145,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.45266640370504724,
+      "policy_expert_regret": 0.3264884656502141,
+      "action_mse_to_best": 0.676982599331273,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.8514851485148515,
+      "policy_rollout_progress": 0.8623599296454156,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.28615492183973296,
+      "policy_expert_regret": 0.2674899335839961,
+      "action_mse_to_best": 0.5085784159969575,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.2,
+      "policy_rollout_progress": 0.4797341487473912,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.206480886704392,
+      "policy_expert_regret": 1.0699496393402417,
+      "action_mse_to_best": 0.6281329141722785,
+      "restore_max_error": 2.2351741790771484e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 214,
+    "retrieval_residual_residual_near_miss": 87,
+    "retrieval_residual_residual_no_op": 69,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 77,
+    "retrieval_residual_residual_wrong_gripper": 128
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 340,
+    "0.45": 160,
+    "0.4": 75
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw2p0_gate0_15069084_0.err

@@ -0,0 +1,10 @@
+2026-07-02 15:23:09,075 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:11,121 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:13,212 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:15,290 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:17,430 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:19,523 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:21,608 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:23,700 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:25,758 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:27,816 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw2p0_gate0_15069084_0.out

@@ -0,0 +1,150 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": 0.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 2.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.36695652173913046,
+  "policy_rollout_progress": 0.5694765353704924,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.860784433019226,
+  "policy_expert_regret": 0.7992557281725433,
+  "action_mse_to_best": 0.43498127313573726,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.21649484536082475,
+      "policy_rollout_progress": 0.5619192553549698,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.1246023943129273,
+      "policy_expert_regret": 1.0981869166044844,
+      "action_mse_to_best": 0.3360233759008271,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.34134615384615385,
+      "policy_rollout_progress": 0.6113516335205461,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 0.9860745732126256,
+      "policy_expert_regret": 0.9726517057861201,
+      "action_mse_to_best": 0.3295289056841284,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.24675324675324675,
+      "policy_rollout_progress": 0.3519601415262207,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.3849640779148836,
+      "policy_expert_regret": 0.26093534871258517,
+      "action_mse_to_best": 0.6327188756171759,
+      "restore_max_error": 2.3096799850463867e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7553191489361702,
+      "policy_rollout_progress": 0.7683361703728108,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.47634468069101904,
+      "policy_expert_regret": 0.41785949008895995,
+      "action_mse_to_best": 0.45443009228465403,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.29292929292929293,
+      "policy_rollout_progress": 0.4692643372097401,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.074166379041142,
+      "policy_expert_regret": 0.9228842834932636,
+      "action_mse_to_best": 0.5812340415261611,
+      "restore_max_error": 2.384185791015625e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 300,
+    "retrieval_residual_residual_near_miss": 158,
+    "retrieval_residual_residual_wrong_gripper": 56,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 27,
+    "retrieval_residual_residual_wrong_gripper+residual_near_miss": 3,
+    "retrieval_residual_residual_no_op": 27,
+    "retrieval_residual_residual_no_op+residual_near_miss": 3,
+    "retrieval_residual_residual_wrong_gripper+residual_no_op": 1
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 437,
+    "0.45": 112,
+    "0.4": 26
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw2p0_gate0_15069084_1.err

@@ -0,0 +1,10 @@
+2026-07-02 15:23:01,989 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:03,982 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:06,098 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:08,128 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:10,196 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:12,293 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:14,379 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:16,413 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:18,450 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:23:20,510 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw2p0_gate0_15069084_1.out

@@ -0,0 +1,149 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": 0.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 2.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.35130434782608694,
+  "policy_rollout_progress": 0.5735185124835824,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8885202659717786,
+  "policy_expert_regret": 0.812155325890825,
+  "action_mse_to_best": 0.4576410755636575,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.23893805309734514,
+      "policy_rollout_progress": 0.6398482869947906,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.0534138812691765,
+      "policy_expert_regret": 0.974211851184347,
+      "action_mse_to_best": 0.38506688071678563,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.30434782608695654,
+      "policy_rollout_progress": 0.5761561171814759,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.0582001713008378,
+      "policy_expert_regret": 1.0581761668259075,
+      "action_mse_to_best": 0.3433770112207402,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.18421052631578946,
+      "policy_rollout_progress": 0.30254631491152395,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.536493563321959,
+      "policy_expert_regret": 0.29284191022117356,
+      "action_mse_to_best": 0.6317151484912947,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8198198198198198,
+      "policy_rollout_progress": 0.8336036210661536,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.34657655911402657,
+      "policy_expert_regret": 0.32940899198119705,
+      "action_mse_to_best": 0.43316389492771645,
+      "restore_max_error": 2.3795291781425476e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.15384615384615385,
+      "policy_rollout_progress": 0.3948795693916279,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.295725757767866,
+      "policy_expert_regret": 1.1360282991286164,
+      "action_mse_to_best": 0.6632763433096173,
+      "restore_max_error": 1.9371509552001953e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 248,
+    "retrieval_residual_residual_wrong_gripper": 42,
+    "retrieval_residual_residual_near_miss": 161,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 26,
+    "retrieval_residual_residual_no_op": 83,
+    "retrieval_residual_residual_wrong_gripper+residual_no_op": 6,
+    "retrieval_residual_residual_no_op+residual_near_miss": 9
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 365,
+    "0.4": 34,
+    "0.45": 176
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw2p0_gate0_15069084_2.err

@@ -0,0 +1,12 @@
+2026-07-02 15:16:50,768 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:52,890 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:55,085 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:57,290 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:16:59,482 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:01,736 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:03,892 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:06,104 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:08,252 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:10,380 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:12,508 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:17:14,728 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw2p0_gate0_15069084_2.out

@@ -0,0 +1,150 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": 0.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 2.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.38956521739130434,
+  "policy_rollout_progress": 0.6016312312059429,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8247477648552993,
+  "policy_expert_regret": 0.7575006256106755,
+  "action_mse_to_best": 0.4754429818479263,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.34375,
+      "policy_rollout_progress": 0.6503640354300538,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9394944878295064,
+      "policy_expert_regret": 0.8331976604337493,
+      "action_mse_to_best": 0.4120352760946844,
+      "restore_max_error": 1.955777406692505e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.3282828282828283,
+      "policy_rollout_progress": 0.6317790904637388,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.0018940838994552,
+      "policy_expert_regret": 0.9948106333707468,
+      "action_mse_to_best": 0.3519154448965282,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.2777777777777778,
+      "policy_rollout_progress": 0.38617517553890746,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.4284196932800114,
+      "policy_expert_regret": 0.28493897081870173,
+      "action_mse_to_best": 0.7018987307945888,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.8415841584158416,
+      "policy_rollout_progress": 0.8548741747837255,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.3035416668004329,
+      "policy_expert_regret": 0.2849623136001058,
+      "action_mse_to_best": 0.481109909565732,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.17777777777777778,
+      "policy_rollout_progress": 0.41458547976281906,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.293866495622529,
+      "policy_expert_regret": 1.1575297541088527,
+      "action_mse_to_best": 0.5820231481144825,
+      "restore_max_error": 2.2351741790771484e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 271,
+    "retrieval_residual_residual_near_miss": 160,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 27,
+    "retrieval_residual_residual_wrong_gripper": 45,
+    "retrieval_residual_residual_no_op": 64,
+    "retrieval_residual_residual_no_op+residual_near_miss": 2,
+    "retrieval_residual_residual_wrong_gripper+residual_no_op": 5,
+    "retrieval_residual_residual_wrong_gripper+residual_near_miss": 1
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 406,
+    "0.45": 132,
+    "0.4": 37
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw4p0_15069080_0.err

@@ -0,0 +1,10 @@
+2026-07-02 15:24:39,082 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:41,142 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:43,191 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:45,358 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:47,425 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:49,566 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:51,649 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:53,824 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:55,902 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:57,990 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw4p0_15069080_0.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 0,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 4.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.3652173913043478,
+  "policy_rollout_progress": 0.576676478124632,
+  "oracle_success_rate": 0.8573913043478261,
+  "expert_success_rate": 0.7721739130434783,
+  "policy_oracle_regret": 0.8522379870798972,
+  "policy_expert_regret": 0.7874944907156716,
+  "action_mse_to_best": 0.4974852632974153,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 97,
+      "policy_rollout_success_rate": 0.20618556701030927,
+      "policy_rollout_progress": 0.5590392544711988,
+      "oracle_success_rate": 0.9278350515463918,
+      "expert_success_rate": 0.8865979381443299,
+      "policy_oracle_regret": 1.1377916735472138,
+      "policy_expert_regret": 1.111376195838771,
+      "action_mse_to_best": 0.345563288864478,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 208,
+      "policy_rollout_success_rate": 0.3605769230769231,
+      "policy_rollout_progress": 0.6201092629478528,
+      "oracle_success_rate": 0.9471153846153846,
+      "expert_success_rate": 0.9375,
+      "policy_oracle_regret": 0.9580861745545497,
+      "policy_expert_regret": 0.9513086464542609,
+      "action_mse_to_best": 0.456300992733584,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 77,
+      "policy_rollout_success_rate": 0.23376623376623376,
+      "policy_rollout_progress": 0.34126044169597003,
+      "oracle_success_rate": 0.36363636363636365,
+      "expert_success_rate": 0.19480519480519481,
+      "policy_oracle_regret": 0.40916589678159815,
+      "policy_expert_regret": 0.2383645014247495,
+      "action_mse_to_best": 0.6299688305173602,
+      "restore_max_error": 2.3096799850463867e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 94,
+      "policy_rollout_success_rate": 0.7446808510638298,
+      "policy_rollout_progress": 0.7592489960345816,
+      "oracle_success_rate": 0.9893617021276596,
+      "expert_success_rate": 0.8617021276595744,
+      "policy_oracle_regret": 0.47644254121374574,
+      "policy_expert_regret": 0.41787898318564637,
+      "action_mse_to_best": 0.49441769481339354,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 99,
+      "policy_rollout_success_rate": 0.2727272727272727,
+      "policy_rollout_progress": 0.5124543525955894,
+      "oracle_success_rate": 0.8585858585858586,
+      "expert_success_rate": 0.6767676767676768,
+      "policy_oracle_regret": 1.051492454578178,
+      "policy_expert_regret": 0.9040298148839161,
+      "action_mse_to_best": 0.6327365416694771,
+      "restore_max_error": 2.384185791015625e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 198,
+    "retrieval_residual_residual_near_miss": 98,
+    "retrieval_residual_residual_wrong_gripper": 154,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 76,
+    "retrieval_residual_residual_no_op": 49
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 355,
+    "0.45": 148,
+    "0.4": 72
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw4p0_15069080_1.err

@@ -0,0 +1,10 @@
+2026-07-02 15:24:37,140 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:39,167 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:41,298 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:43,398 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:45,466 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:47,592 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:49,703 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:51,786 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:53,867 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:55,961 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw4p0_15069080_1.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 1,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 4.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.36695652173913046,
+  "policy_rollout_progress": 0.5834855123139594,
+  "oracle_success_rate": 0.8695652173913043,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8594728955545503,
+  "policy_expert_regret": 0.7903543396148345,
+  "action_mse_to_best": 0.5146053172963793,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 113,
+      "policy_rollout_success_rate": 0.23893805309734514,
+      "policy_rollout_progress": 0.6344843103294879,
+      "oracle_success_rate": 0.9380530973451328,
+      "expert_success_rate": 0.8584070796460177,
+      "policy_oracle_regret": 1.058777857934479,
+      "policy_expert_regret": 0.9795758278496498,
+      "action_mse_to_best": 0.4054089086336306,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 184,
+      "policy_rollout_success_rate": 0.29891304347826086,
+      "policy_rollout_progress": 0.5658004574285335,
+      "oracle_success_rate": 0.9456521739130435,
+      "expert_success_rate": 0.9402173913043478,
+      "policy_oracle_regret": 1.0739906136624757,
+      "policy_expert_regret": 1.0739666091875457,
+      "action_mse_to_best": 0.4513823625469661,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 76,
+      "policy_rollout_success_rate": 0.23684210526315788,
+      "policy_rollout_progress": 0.3468795389819302,
+      "oracle_success_rate": 0.40789473684210525,
+      "expert_success_rate": 0.25,
+      "policy_oracle_regret": 0.41359174599576937,
+      "policy_expert_regret": 0.2395849796012044,
+      "action_mse_to_best": 0.6756443924417621,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 111,
+      "policy_rollout_success_rate": 0.8378378378378378,
+      "policy_rollout_progress": 0.8497250178107271,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8198198198198198,
+      "policy_oracle_regret": 0.31243714435143516,
+      "policy_expert_regret": 0.2952695772186056,
+      "action_mse_to_best": 0.43114926941222975,
+      "restore_max_error": 2.3795291781425476e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 91,
+      "policy_rollout_success_rate": 0.1978021978021978,
+      "policy_rollout_progress": 0.42876743304205467,
+      "oracle_success_rate": 0.8571428571428571,
+      "expert_success_rate": 0.6923076923076923,
+      "policy_oracle_regret": 1.2178818501613953,
+      "policy_expert_regret": 1.0458070232972994,
+      "action_mse_to_best": 0.7453401464927982,
+      "restore_max_error": 1.9371509552001953e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 184,
+    "retrieval_residual_residual_wrong_gripper": 108,
+    "retrieval_residual_residual_near_miss": 82,
+    "retrieval_residual_residual_no_op": 127,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 74
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 311,
+    "0.45": 217,
+    "0.4": 47
+  }
+}

workspace/outputs/hpc/logs/v1_pol_advw4p0_15069080_2.err

@@ -0,0 +1,12 @@
+2026-07-02 15:24:35,723 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:37,780 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:39,911 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:42,030 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:44,147 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:46,317 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:48,393 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:50,578 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:52,699 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:54,802 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:56,930 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-07-02 15:24:59,078 - mani_skill  - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.

workspace/outputs/hpc/logs/v1_pol_advw4p0_15069080_2.out

@@ -0,0 +1,147 @@
+{
+  "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt",
+  "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection",
+  "split": "validation_groups",
+  "objective": "lattice_field",
+  "seed": 2,
+  "observation_mode": "state",
+  "backbone_type": "native",
+  "backbone_model": null,
+  "num_groups": 575,
+  "group_batch_size": 8,
+  "selection_mode": "retrieval_residual",
+  "num_candidates": 48,
+  "candidate_sigma": 0.0,
+  "proposal_types": [],
+  "proposal_lattice_types": [],
+  "selection_margin": 0.0,
+  "prepend_policy_candidate": false,
+  "field_optim_steps": 0,
+  "field_optim_step_size": 0.0,
+  "field_optim_trust_radius": 0.0,
+  "field_optim_l2_penalty": 0.0,
+  "retrieval_neighbors": 6,
+  "retrieval_metric": "raw",
+  "retrieval_type_min_success": 0.0,
+  "retrieval_type_success_bonus_scale": 0.0,
+  "retrieval_residual_consensus_penalty_scale": 0.0,
+  "retrieval_residual_min_source_progress": 0.0,
+  "retrieval_residual_min_source_advantage": -1000000000.0,
+  "retrieval_residual_source_progress_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_scale": 0.0,
+  "retrieval_residual_source_score_bonus_by_task": {
+    "*": 0.0,
+    "PickCube-v1": 0.01,
+    "StackCube-v1": 0.05
+  },
+  "retrieval_residual_source_advantage_bonus_scale": 0.0,
+  "retrieval_residual_source_advantage_weight_scale": 4.0,
+  "retrieval_residual_composite_l2_penalty_scale": 0.0,
+  "retrieval_residual_action_l2_penalty": 0.0,
+  "retrieval_residual_scale": 1.0,
+  "retrieval_residual_scales": [
+    0.35,
+    0.4,
+    0.45
+  ],
+  "retrieval_residual_anchor": "policy",
+  "retrieval_residual_direction": "candidate_minus_anchor",
+  "retrieval_residual_reduce": "compose_mean_by_type",
+  "retrieval_residual_challenger_types": [],
+  "retrieval_residual_challenger_scales": [],
+  "retrieval_residual_challenger_margin": 0.0,
+  "retrieval_residual_challenger_type_margins": {},
+  "retrieval_residual_challenger_tasks": [],
+  "retrieval_residual_challenger_type_tasks": {},
+  "lattice_exclude_types": [
+    "residual_random_negative",
+    "residual_wrong_direction",
+    "residual_near_miss+residual_no_op",
+    "residual_no_op+residual_wrong_gripper"
+  ],
+  "lattice_exclude_type_tasks": {},
+  "candidate_type_bonuses": {},
+  "candidate_type_bonuses_by_task": {},
+  "candidate_type_bonus_components": false,
+  "field_rank_biases_by_task": {},
+  "residual_scale_bonuses_by_task": {},
+  "candidate_oracle_rollouts": 0,
+  "candidate_oracle_unique_tolerance": 1e-06,
+  "policy_rollout_success_rate": 0.3826086956521739,
+  "policy_rollout_progress": 0.601428622967847,
+  "oracle_success_rate": 0.8765217391304347,
+  "expert_success_rate": 0.7704347826086957,
+  "policy_oracle_regret": 0.8311025439899253,
+  "policy_expert_regret": 0.7592233843469749,
+  "action_mse_to_best": 0.5306954161515054,
+  "restore_max_error": 2.384185791015625e-07,
+  "per_task": {
+    "LiftPegUpright-v1": {
+      "num_groups": 96,
+      "policy_rollout_success_rate": 0.34375,
+      "policy_rollout_progress": 0.6506505594588816,
+      "oracle_success_rate": 0.9270833333333334,
+      "expert_success_rate": 0.8229166666666666,
+      "policy_oracle_regret": 0.9392079638006786,
+      "policy_expert_regret": 0.8196508556914827,
+      "action_mse_to_best": 0.44579967874839593,
+      "restore_max_error": 1.955777406692505e-07
+    },
+    "PickCube-v1": {
+      "num_groups": 198,
+      "policy_rollout_success_rate": 0.3181818181818182,
+      "policy_rollout_progress": 0.6228315381502564,
+      "oracle_success_rate": 0.9595959595959596,
+      "expert_success_rate": 0.9444444444444444,
+      "policy_oracle_regret": 1.020942646313948,
+      "policy_expert_regret": 1.0138591957852394,
+      "action_mse_to_best": 0.4667625424894269,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PullCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.24444444444444444,
+      "policy_rollout_progress": 0.35248699988135035,
+      "oracle_success_rate": 0.4666666666666667,
+      "expert_success_rate": 0.24444444444444444,
+      "policy_oracle_regret": 0.4773602064595454,
+      "policy_expert_regret": 0.3312447832793825,
+      "action_mse_to_best": 0.6834456741809845,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "PushCube-v1": {
+      "num_groups": 101,
+      "policy_rollout_success_rate": 0.8514851485148515,
+      "policy_rollout_progress": 0.8648294326987597,
+      "oracle_success_rate": 1.0,
+      "expert_success_rate": 0.8514851485148515,
+      "policy_oracle_regret": 0.2836854187863888,
+      "policy_expert_regret": 0.26510606558606176,
+      "action_mse_to_best": 0.512414920669381,
+      "restore_max_error": 2.384185791015625e-07
+    },
+    "StackCube-v1": {
+      "num_groups": 90,
+      "policy_rollout_success_rate": 0.17777777777777778,
+      "policy_rollout_progress": 0.4551861916979154,
+      "oracle_success_rate": 0.9111111111111111,
+      "expert_success_rate": 0.7666666666666667,
+      "policy_oracle_regret": 1.2662078713377316,
+      "policy_expert_regret": 1.117056666314602,
+      "action_mse_to_best": 0.6296677116718558,
+      "restore_max_error": 2.2351741790771484e-07
+    }
+  },
+  "selected_candidate_type_counts": {
+    "retrieval_residual_policy_residual": 202,
+    "retrieval_residual_residual_no_op": 73,
+    "retrieval_residual_residual_near_miss": 97,
+    "retrieval_residual_residual_near_miss+residual_wrong_gripper": 80,
+    "retrieval_residual_residual_wrong_gripper": 123
+  },
+  "selected_residual_scale_counts": {
+    "0.35": 344,
+    "0.45": 161,
+    "0.4": 70
+  }
+}

workspace/outputs/hpc/logs/v1_sum_advw0p5_15069075.out

@@ -0,0 +1,16 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1",
+  "out_name": "policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw0p5.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.3872463768115942,
+  "std_success": 0.017420265740657068,
+  "mean_progress": 0.5970969428575558,
+  "mean_action_mse_to_best": 0.5136112351842441,
+  "gain_vs_h4": 0.09054637681159416,
+  "gain_vs_h16_rank_checkpoint": 0.08985507246376812
+}
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw0p5_summary.json
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw0p5_summary.md

workspace/outputs/hpc/logs/v1_sum_advw2p0_gate0_15069083.out

@@ -0,0 +1,16 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1",
+  "out_name": "policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw2p0_gate0.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.36927536231884056,
+  "std_success": 0.019235547852796592,
+  "mean_progress": 0.5815420930200059,
+  "mean_action_mse_to_best": 0.45602177684910705,
+  "gain_vs_h4": 0.07257536231884054,
+  "gain_vs_h16_rank_checkpoint": 0.07188405797101449
+}
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw2p0_gate0_summary.json
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw2p0_gate0_summary.md

workspace/outputs/hpc/logs/v1_sum_advw4p0_15069077.out

@@ -0,0 +1,16 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1",
+  "out_name": "policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw4p0.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.3715942028985507,
+  "std_success": 0.00957838356049757,
+  "mean_progress": 0.5871968711354795,
+  "mean_action_mse_to_best": 0.5142619989151,
+  "gain_vs_h4": 0.0748942028985507,
+  "gain_vs_h16_rank_checkpoint": 0.07420289855072465
+}
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw4p0_summary.json
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_advw4p0_summary.md

workspace/outputs/hpc/logs/v1_sum_pol_advw1p0_15069079.out

@@ -0,0 +1,16 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1",
+  "out_name": "policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw1p0.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.383768115942029,
+  "std_success": 0.011181044360571534,
+  "mean_progress": 0.5947921582106231,
+  "mean_action_mse_to_best": 0.5140562709515402,
+  "gain_vs_h4": 0.08706811594202896,
+  "gain_vs_h16_rank_checkpoint": 0.0863768115942029
+}
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw1p0_summary.json
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw1p0_summary.md

workspace/outputs/hpc/logs/v1_sum_pol_advw2p0_g_15069085.out

@@ -0,0 +1,16 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1",
+  "out_name": "policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw2p0_gate0.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.36927536231884056,
+  "std_success": 0.019235547852796592,
+  "mean_progress": 0.5815420930200059,
+  "mean_action_mse_to_best": 0.45602177684910705,
+  "gain_vs_h4": 0.07257536231884054,
+  "gain_vs_h16_rank_checkpoint": 0.07188405797101449
+}
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw2p0_gate0_summary.json
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw2p0_gate0_summary.md

workspace/outputs/hpc/logs/v1_sum_pol_advw4p0_15069081.out

@@ -0,0 +1,16 @@
+{
+  "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
+  "objective": "transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1",
+  "out_name": "policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw4p0.json",
+  "num_completed": 3,
+  "baseline_h4_policy_success": 0.2967,
+  "baseline_h16_rank_checkpoint_success": 0.29739130434782607,
+  "mean_success": 0.3715942028985507,
+  "std_success": 0.00957838356049757,
+  "mean_progress": 0.5871968711354795,
+  "mean_action_mse_to_best": 0.5142619989151,
+  "gain_vs_h4": 0.0748942028985507,
+  "gain_vs_h16_rank_checkpoint": 0.07420289855072465
+}
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw4p0_summary.json
+Wrote results/h16_transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_policyanchor_advw4p0_summary.md