Auto-sync: 2026-06-29 00:05:25
Browse files- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p03_summary.json +319 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p03_summary.md +19 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p05_summary.json +319 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p05_summary.md +19 -0
- results/paper_analysis.json +1 -1
- results/paper_analysis.md +1 -1
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p03_summary.json
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| 1 |
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{
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"policy_rollout_progress": 0.5742986448939241,
|
| 179 |
+
"policy_rollout_success_rate": 0.29347826086956524,
|
| 180 |
+
"restore_max_error": 2.384185791015625e-07
|
| 181 |
+
},
|
| 182 |
+
"PullCube-v1": {
|
| 183 |
+
"action_mse_to_best": 0.5715771112591028,
|
| 184 |
+
"expert_success_rate": 0.25,
|
| 185 |
+
"num_groups": 76,
|
| 186 |
+
"oracle_success_rate": 0.40789473684210525,
|
| 187 |
+
"policy_expert_regret": 0.30013844498286124,
|
| 188 |
+
"policy_oracle_regret": 0.5234715515061429,
|
| 189 |
+
"policy_rollout_progress": 0.28913191000097677,
|
| 190 |
+
"policy_rollout_success_rate": 0.18421052631578946,
|
| 191 |
+
"restore_max_error": 2.384185791015625e-07
|
| 192 |
+
},
|
| 193 |
+
"PushCube-v1": {
|
| 194 |
+
"action_mse_to_best": 0.35765871029716356,
|
| 195 |
+
"expert_success_rate": 0.8198198198198198,
|
| 196 |
+
"num_groups": 111,
|
| 197 |
+
"oracle_success_rate": 1.0,
|
| 198 |
+
"policy_expert_regret": 0.32971009934270706,
|
| 199 |
+
"policy_oracle_regret": 0.38007361851296984,
|
| 200 |
+
"policy_rollout_progress": 0.8181245796852283,
|
| 201 |
+
"policy_rollout_success_rate": 0.8018018018018018,
|
| 202 |
+
"restore_max_error": 2.3795291781425476e-07
|
| 203 |
+
},
|
| 204 |
+
"StackCube-v1": {
|
| 205 |
+
"action_mse_to_best": 0.48739973169106704,
|
| 206 |
+
"expert_success_rate": 0.6923076923076923,
|
| 207 |
+
"num_groups": 91,
|
| 208 |
+
"oracle_success_rate": 0.8571428571428571,
|
| 209 |
+
"policy_expert_regret": 1.1409930893025555,
|
| 210 |
+
"policy_oracle_regret": 1.3006549364590383,
|
| 211 |
+
"policy_rollout_progress": 0.38995039070045556,
|
| 212 |
+
"policy_rollout_success_rate": 0.15384615384615385,
|
| 213 |
+
"restore_max_error": 1.9371509552001953e-07
|
| 214 |
+
}
|
| 215 |
+
}
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"seed": 2,
|
| 219 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p03.json",
|
| 220 |
+
"num_groups": 575,
|
| 221 |
+
"selection_mode": "retrieval_residual",
|
| 222 |
+
"num_candidates": 6,
|
| 223 |
+
"candidate_sigma": 0.0,
|
| 224 |
+
"selection_margin": 0.2,
|
| 225 |
+
"prepend_policy_candidate": false,
|
| 226 |
+
"field_optim_steps": 0,
|
| 227 |
+
"field_optim_step_size": 0.0,
|
| 228 |
+
"field_optim_trust_radius": 0.0,
|
| 229 |
+
"field_optim_l2_penalty": 0.0,
|
| 230 |
+
"retrieval_neighbors": 4,
|
| 231 |
+
"retrieval_metric": "raw",
|
| 232 |
+
"retrieval_type_min_success": 0.0,
|
| 233 |
+
"retrieval_residual_min_source_progress": 0.0,
|
| 234 |
+
"retrieval_residual_source_progress_bonus_scale": 0.03,
|
| 235 |
+
"retrieval_residual_scale": 0.4,
|
| 236 |
+
"retrieval_residual_scales": [],
|
| 237 |
+
"retrieval_residual_anchor": "expert",
|
| 238 |
+
"retrieval_residual_reduce": "mean_by_type",
|
| 239 |
+
"candidate_type_bonuses": {},
|
| 240 |
+
"selected_residual_scale_counts": {
|
| 241 |
+
"0.4": 575
|
| 242 |
+
},
|
| 243 |
+
"policy_rollout_success_rate": 0.36869565217391304,
|
| 244 |
+
"policy_rollout_progress": 0.5828851233995058,
|
| 245 |
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"oracle_success_rate": 0.8765217391304347,
|
| 246 |
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"action_mse_to_best": 0.41659943506850494,
|
| 247 |
+
"best_policy_val": {
|
| 248 |
+
"bc_loss": 0.11367896075050037,
|
| 249 |
+
"field_effect_loss": 0.009670218582161598,
|
| 250 |
+
"field_potential_loss": 0.2641640139950646,
|
| 251 |
+
"field_preference_loss": 0.5130490180518892,
|
| 252 |
+
"lattice_edges": 3833.3333333333335,
|
| 253 |
+
"progress_mae": 0.2021729110015763,
|
| 254 |
+
"rank_acc": 0.8333857821093665,
|
| 255 |
+
"rank_loss": 0.5130119257503085,
|
| 256 |
+
"regret_mae": 0.3958987047274907,
|
| 257 |
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"success_accuracy": 0.8680730561415354,
|
| 258 |
+
"total_loss": 1.4394984311527677
|
| 259 |
+
},
|
| 260 |
+
"per_task": {
|
| 261 |
+
"LiftPegUpright-v1": {
|
| 262 |
+
"action_mse_to_best": 0.35488338287783944,
|
| 263 |
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"expert_success_rate": 0.8229166666666666,
|
| 264 |
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"num_groups": 96,
|
| 265 |
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"oracle_success_rate": 0.9270833333333334,
|
| 266 |
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"policy_expert_regret": 0.8476849501021206,
|
| 267 |
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"policy_oracle_regret": 0.9539546399998168,
|
| 268 |
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"policy_rollout_progress": 0.6463205499264101,
|
| 269 |
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"policy_rollout_success_rate": 0.3333333333333333,
|
| 270 |
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"restore_max_error": 1.955777406692505e-07
|
| 271 |
+
},
|
| 272 |
+
"PickCube-v1": {
|
| 273 |
+
"action_mse_to_best": 0.335480088330429,
|
| 274 |
+
"expert_success_rate": 0.9444444444444444,
|
| 275 |
+
"num_groups": 198,
|
| 276 |
+
"oracle_success_rate": 0.9595959595959596,
|
| 277 |
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"policy_expert_regret": 0.9807514474924767,
|
| 278 |
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"policy_oracle_regret": 0.9878348980211851,
|
| 279 |
+
"policy_rollout_progress": 0.6357372662409989,
|
| 280 |
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"policy_rollout_success_rate": 0.3383838383838384,
|
| 281 |
+
"restore_max_error": 2.384185791015625e-07
|
| 282 |
+
},
|
| 283 |
+
"PullCube-v1": {
|
| 284 |
+
"action_mse_to_best": 0.6283310380246904,
|
| 285 |
+
"expert_success_rate": 0.24444444444444444,
|
| 286 |
+
"num_groups": 90,
|
| 287 |
+
"oracle_success_rate": 0.4666666666666667,
|
| 288 |
+
"policy_expert_regret": 0.3140720418619821,
|
| 289 |
+
"policy_oracle_regret": 0.5426390113998827,
|
| 290 |
+
"policy_rollout_progress": 0.31892168570862445,
|
| 291 |
+
"policy_rollout_success_rate": 0.2111111111111111,
|
| 292 |
+
"restore_max_error": 2.384185791015625e-07
|
| 293 |
+
},
|
| 294 |
+
"PushCube-v1": {
|
| 295 |
+
"action_mse_to_best": 0.3851195577495169,
|
| 296 |
+
"expert_success_rate": 0.8514851485148515,
|
| 297 |
+
"num_groups": 101,
|
| 298 |
+
"oracle_success_rate": 1.0,
|
| 299 |
+
"policy_expert_regret": 0.3620445999768701,
|
| 300 |
+
"policy_oracle_regret": 0.41694685138098087,
|
| 301 |
+
"policy_rollout_progress": 0.8008749307972369,
|
| 302 |
+
"policy_rollout_success_rate": 0.7821782178217822,
|
| 303 |
+
"restore_max_error": 2.384185791015625e-07
|
| 304 |
+
},
|
| 305 |
+
"StackCube-v1": {
|
| 306 |
+
"action_mse_to_best": 0.4844882684863276,
|
| 307 |
+
"expert_success_rate": 0.7666666666666667,
|
| 308 |
+
"num_groups": 90,
|
| 309 |
+
"oracle_success_rate": 0.9111111111111111,
|
| 310 |
+
"policy_expert_regret": 1.1607355892658233,
|
| 311 |
+
"policy_oracle_regret": 1.2970718792743152,
|
| 312 |
+
"policy_rollout_progress": 0.4182763857973946,
|
| 313 |
+
"policy_rollout_success_rate": 0.16666666666666666,
|
| 314 |
+
"restore_max_error": 2.2351741790771484e-07
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
}
|
| 318 |
+
]
|
| 319 |
+
}
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p03_summary.md
ADDED
|
@@ -0,0 +1,19 @@
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `near_miss_policy_bc5`
|
| 5 |
+
Result file: `policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p03.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
|
| 10 |
+
Mean success: 35.25% +/- 1.42%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +5.51%
|
| 12 |
+
Mean progress: 56.68%
|
| 13 |
+
Mean action MSE to best: 0.395
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual reduce | min type success | min source progress | source progress bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.030 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 34.61% | 55.10% | 85.74% | 0.382 |
|
| 18 |
+
| 1 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.030 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 34.26% | 56.65% | 86.96% | 0.388 |
|
| 19 |
+
| 2 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.030 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 36.87% | 58.29% | 87.65% | 0.417 |
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p05_summary.json
ADDED
|
@@ -0,0 +1,319 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
|
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|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "near_miss_policy_bc5",
|
| 4 |
+
"out_name": "policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p05.json",
|
| 5 |
+
"num_completed": 3,
|
| 6 |
+
"baseline_h4_policy_success": 0.2967,
|
| 7 |
+
"baseline_h16_rank_checkpoint_success": 0.29739130434782607,
|
| 8 |
+
"mean_success": 0.35130434782608694,
|
| 9 |
+
"std_success": 0.013583042914620291,
|
| 10 |
+
"mean_progress": 0.5664844556027748,
|
| 11 |
+
"mean_action_mse_to_best": 0.3956964282710375,
|
| 12 |
+
"gain_vs_h4": 0.05460434782608692,
|
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| 312 |
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"policy_rollout_progress": 0.4182763857973946,
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| 313 |
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"policy_rollout_success_rate": 0.16666666666666666,
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| 314 |
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"restore_max_error": 2.2351741790771484e-07
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}
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}
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}
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]
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}
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results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p05_summary.md
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# h=16 Best-Policy Checkpoint Rollout
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Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
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Objective: `near_miss_policy_bc5`
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Result file: `policy_rollout_retrieval_residual_k4s040_safe_margin0p20_mean_by_type_srcprogbonus0p05.json`
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Completed seeds: 3
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Baseline h=4 policy success: 29.67%
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Baseline h=16 rank-checkpoint success: 29.74%
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| 9 |
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Mean success: 35.13% +/- 1.36%
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| 11 |
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Gain vs h=16 rank checkpoint: +5.39%
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Mean progress: 56.65%
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| 13 |
+
Mean action MSE to best: 0.396
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| 14 |
+
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| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual reduce | min type success | min source progress | source progress bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | action MSE |
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| 16 |
+
|---:|---|---:|---|---:|---|---|---|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|
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| 17 |
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| 0 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.050 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 34.43% | 55.06% | 85.74% | 0.382 |
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| 18 |
+
| 1 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.050 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 34.26% | 56.65% | 86.96% | 0.388 |
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| 2 | retrieval_residual | 6 | no | 4 | raw | expert | mean_by_type | 0.00 | 0.00 | 0.050 | 0.40 | none | 0.200 | 0.00 | 0 | 0.00 | 36.70% | 58.23% | 87.65% | 0.417 |
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results/paper_analysis.json
CHANGED
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@@ -1,6 +1,6 @@
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{
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"best_clean_key": "residual_k4_consensus_noopbonus003",
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-
"generated_utc": "2026-06-
|
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"mechanism_gap": {
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"best_clean_vs_direct_same_ckpt": 0.06956521739130428,
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| 6 |
"best_clean_vs_h16": 0.05507246376811592,
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| 1 |
{
|
| 2 |
"best_clean_key": "residual_k4_consensus_noopbonus003",
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| 3 |
+
"generated_utc": "2026-06-29T04:01:12+00:00",
|
| 4 |
"mechanism_gap": {
|
| 5 |
"best_clean_vs_direct_same_ckpt": 0.06956521739130428,
|
| 6 |
"best_clean_vs_h16": 0.05507246376811592,
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results/paper_analysis.md
CHANGED
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| 1 |
# Paper Analysis
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Generated: `2026-06-
|
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## Main Seed Statistics
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# Paper Analysis
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| 2 |
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Generated: `2026-06-29T04:01:12+00:00`
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## Main Seed Statistics
|
| 6 |
|