Auto-sync: 2026-06-30 05:12:29 (part 2)
Browse files- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scale035_summary.json +454 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scale035_summary.md +19 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scales035040_summary.json +457 -0
- results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scales035040_summary.md +19 -0
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scale035_summary.json
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| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
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| 3 |
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"objective": "near_miss_policy_bc5",
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| 4 |
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"out_name": "policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scale035.json",
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 14 |
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"rows": [
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| 15 |
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{
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| 16 |
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"seed": 0,
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| 17 |
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"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scale035.json",
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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],
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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],
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| 51 |
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| 52 |
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| 53 |
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],
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 62 |
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| 64 |
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| 113 |
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| 114 |
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"action_mse_to_best": 0.5226443493117888,
|
| 442 |
+
"expert_success_rate": 0.7666666666666667,
|
| 443 |
+
"num_groups": 90,
|
| 444 |
+
"oracle_success_rate": 0.9111111111111111,
|
| 445 |
+
"policy_expert_regret": 1.1750739713509877,
|
| 446 |
+
"policy_oracle_regret": 1.3371944083107843,
|
| 447 |
+
"policy_rollout_progress": 0.4045378933350245,
|
| 448 |
+
"policy_rollout_success_rate": 0.14444444444444443,
|
| 449 |
+
"restore_max_error": 2.086162567138672e-07
|
| 450 |
+
}
|
| 451 |
+
}
|
| 452 |
+
}
|
| 453 |
+
]
|
| 454 |
+
}
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scale035_summary.md
ADDED
|
@@ -0,0 +1,19 @@
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| 1 |
+
# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
+
|
| 3 |
+
Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `near_miss_policy_bc5`
|
| 5 |
+
Result file: `policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scale035.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: 36.00% +/- 1.14%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +6.26%
|
| 12 |
+
Mean progress: 57.33%
|
| 13 |
+
Mean action MSE to best: 0.407
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual direction | residual reduce | min type success | type success bonus | consensus penalty | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | candidate oracle | oracle gain | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---|---:|---:|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss[0.35]@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 35.83% | 56.03% | 85.74% | n/a | n/a | 0.394 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss[0.35]@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.96% | 57.27% | 86.96% | n/a | n/a | 0.399 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss[0.35]@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 37.22% | 58.68% | 87.65% | n/a | n/a | 0.428 |
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scales035040_summary.json
ADDED
|
@@ -0,0 +1,457 @@
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs",
|
| 3 |
+
"objective": "near_miss_policy_bc5",
|
| 4 |
+
"out_name": "policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scales035040.json",
|
| 5 |
+
"num_completed": 3,
|
| 6 |
+
"baseline_h4_policy_success": 0.2967,
|
| 7 |
+
"baseline_h16_rank_checkpoint_success": 0.29739130434782607,
|
| 8 |
+
"mean_success": 0.36,
|
| 9 |
+
"std_success": 0.013130146843949137,
|
| 10 |
+
"mean_progress": 0.5736821288862468,
|
| 11 |
+
"mean_action_mse_to_best": 0.4071669423609864,
|
| 12 |
+
"gain_vs_h4": 0.06329999999999997,
|
| 13 |
+
"gain_vs_h16_rank_checkpoint": 0.06260869565217392,
|
| 14 |
+
"rows": [
|
| 15 |
+
{
|
| 16 |
+
"seed": 0,
|
| 17 |
+
"path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scales035040.json",
|
| 18 |
+
"num_groups": 575,
|
| 19 |
+
"selection_mode": "retrieval_residual",
|
| 20 |
+
"num_candidates": 48,
|
| 21 |
+
"candidate_sigma": 0.0,
|
| 22 |
+
"selection_margin": 0.2,
|
| 23 |
+
"prepend_policy_candidate": false,
|
| 24 |
+
"field_optim_steps": 0,
|
| 25 |
+
"field_optim_step_size": 0.0,
|
| 26 |
+
"field_optim_trust_radius": 0.0,
|
| 27 |
+
"field_optim_l2_penalty": 0.0,
|
| 28 |
+
"retrieval_neighbors": 4,
|
| 29 |
+
"retrieval_metric": "raw",
|
| 30 |
+
"retrieval_type_min_success": 0.0,
|
| 31 |
+
"retrieval_type_success_bonus_scale": 0.0,
|
| 32 |
+
"retrieval_residual_consensus_penalty_scale": 0.0,
|
| 33 |
+
"retrieval_residual_min_source_progress": 0.0,
|
| 34 |
+
"retrieval_residual_min_source_advantage": -1000000000.0,
|
| 35 |
+
"retrieval_residual_source_progress_bonus_scale": 0.0,
|
| 36 |
+
"retrieval_residual_source_score_bonus_scale": 0.0,
|
| 37 |
+
"retrieval_residual_source_advantage_bonus_scale": 0.0,
|
| 38 |
+
"retrieval_residual_composite_l2_penalty_scale": 0.0,
|
| 39 |
+
"retrieval_residual_scale": 1.0,
|
| 40 |
+
"retrieval_residual_scales": [
|
| 41 |
+
0.35,
|
| 42 |
+
0.4,
|
| 43 |
+
0.45
|
| 44 |
+
],
|
| 45 |
+
"retrieval_residual_anchor": "expert",
|
| 46 |
+
"retrieval_residual_direction": "candidate_minus_anchor",
|
| 47 |
+
"retrieval_residual_reduce": "compose_mean_by_type",
|
| 48 |
+
"retrieval_residual_challenger_types": [
|
| 49 |
+
"residual_near_miss"
|
| 50 |
+
],
|
| 51 |
+
"retrieval_residual_challenger_scales": [
|
| 52 |
+
0.35,
|
| 53 |
+
0.4
|
| 54 |
+
],
|
| 55 |
+
"retrieval_residual_challenger_margin": 0.01,
|
| 56 |
+
"lattice_exclude_types": [
|
| 57 |
+
"residual_random_negative",
|
| 58 |
+
"residual_wrong_direction",
|
| 59 |
+
"residual_near_miss+residual_no_op"
|
| 60 |
+
],
|
| 61 |
+
"candidate_type_bonuses": {
|
| 62 |
+
"residual_no_op": 0.03
|
| 63 |
+
},
|
| 64 |
+
"candidate_type_bonus_components": false,
|
| 65 |
+
"candidate_oracle_rollouts": 0,
|
| 66 |
+
"candidate_oracle_unique_tolerance": 1e-06,
|
| 67 |
+
"candidate_oracle_success_rate": null,
|
| 68 |
+
"candidate_oracle_progress": null,
|
| 69 |
+
"candidate_oracle_score": null,
|
| 70 |
+
"candidate_oracle_regret": null,
|
| 71 |
+
"candidate_oracle_score_gain_over_selected": null,
|
| 72 |
+
"candidate_oracle_unique_count": null,
|
| 73 |
+
"candidate_oracle_improvement_rate": null,
|
| 74 |
+
"candidate_oracle_selected_branch_success_rate": null,
|
| 75 |
+
"candidate_oracle_selected_branch_progress": null,
|
| 76 |
+
"candidate_oracle_type_counts": {},
|
| 77 |
+
"candidate_oracle_best_branch_rank": null,
|
| 78 |
+
"candidate_oracle_best_branch_rank_counts": {},
|
| 79 |
+
"candidate_oracle_branch_success_rates": [],
|
| 80 |
+
"candidate_oracle_branch_progress": [],
|
| 81 |
+
"candidate_oracle_branch_score_gains_over_selected": [],
|
| 82 |
+
"selected_residual_scale_counts": {
|
| 83 |
+
"0.35": 516,
|
| 84 |
+
"0.4": 24,
|
| 85 |
+
"0.45": 35
|
| 86 |
+
},
|
| 87 |
+
"policy_rollout_success_rate": 0.3582608695652174,
|
| 88 |
+
"policy_rollout_progress": 0.5607444118218415,
|
| 89 |
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"total_loss": 1.4394984311527677
|
| 397 |
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},
|
| 398 |
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"per_task": {
|
| 399 |
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"LiftPegUpright-v1": {
|
| 400 |
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"action_mse_to_best": 0.35602021238203935,
|
| 401 |
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"expert_success_rate": 0.8229166666666666,
|
| 402 |
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"num_groups": 96,
|
| 403 |
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"oracle_success_rate": 0.9270833333333334,
|
| 404 |
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"policy_expert_regret": 0.8475987246880928,
|
| 405 |
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"policy_oracle_regret": 0.9538775502393643,
|
| 406 |
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"policy_rollout_progress": 0.6463976396868626,
|
| 407 |
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"policy_rollout_success_rate": 0.3333333333333333,
|
| 408 |
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"restore_max_error": 2.384185791015625e-07
|
| 409 |
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},
|
| 410 |
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"PickCube-v1": {
|
| 411 |
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"action_mse_to_best": 0.3390803976229044,
|
| 412 |
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"expert_success_rate": 0.9444444444444444,
|
| 413 |
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"num_groups": 198,
|
| 414 |
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"oracle_success_rate": 0.9595959595959596,
|
| 415 |
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"policy_expert_regret": 0.9734896586436514,
|
| 416 |
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"policy_oracle_regret": 0.9805731091723598,
|
| 417 |
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"policy_rollout_progress": 0.637948550039319,
|
| 418 |
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"policy_rollout_success_rate": 0.3434343434343434,
|
| 419 |
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"restore_max_error": 2.384185791015625e-07
|
| 420 |
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},
|
| 421 |
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"PullCube-v1": {
|
| 422 |
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"action_mse_to_best": 0.6389710100988547,
|
| 423 |
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"expert_success_rate": 0.24444444444444444,
|
| 424 |
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"num_groups": 90,
|
| 425 |
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"oracle_success_rate": 0.4666666666666667,
|
| 426 |
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"policy_expert_regret": 0.2902786168580254,
|
| 427 |
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"policy_oracle_regret": 0.4949937036467923,
|
| 428 |
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"policy_rollout_progress": 0.3525680078400506,
|
| 429 |
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"policy_rollout_success_rate": 0.24444444444444444,
|
| 430 |
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"restore_max_error": 2.384185791015625e-07
|
| 431 |
+
},
|
| 432 |
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"PushCube-v1": {
|
| 433 |
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"action_mse_to_best": 0.3970492488824495,
|
| 434 |
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"expert_success_rate": 0.8514851485148515,
|
| 435 |
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"num_groups": 101,
|
| 436 |
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"oracle_success_rate": 1.0,
|
| 437 |
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"policy_expert_regret": 0.3425388766987489,
|
| 438 |
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"policy_oracle_regret": 0.39744112810285964,
|
| 439 |
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"policy_rollout_progress": 0.8104796639763483,
|
| 440 |
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"policy_rollout_success_rate": 0.7920792079207921,
|
| 441 |
+
"restore_max_error": 2.384185791015625e-07
|
| 442 |
+
},
|
| 443 |
+
"StackCube-v1": {
|
| 444 |
+
"action_mse_to_best": 0.5226443493117888,
|
| 445 |
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"expert_success_rate": 0.7666666666666667,
|
| 446 |
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"num_groups": 90,
|
| 447 |
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"oracle_success_rate": 0.9111111111111111,
|
| 448 |
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"policy_expert_regret": 1.1750739713509877,
|
| 449 |
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"policy_oracle_regret": 1.3371944083107843,
|
| 450 |
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"policy_rollout_progress": 0.4045378933350245,
|
| 451 |
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"policy_rollout_success_rate": 0.14444444444444443,
|
| 452 |
+
"restore_max_error": 2.086162567138672e-07
|
| 453 |
+
}
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
]
|
| 457 |
+
}
|
results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scales035040_summary.md
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| 1 |
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# h=16 Best-Policy Checkpoint Rollout
|
| 2 |
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| 3 |
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Run root: `/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs`
|
| 4 |
+
Objective: `near_miss_policy_bc5`
|
| 5 |
+
Result file: `policy_rollout_retrieval_residual_k4_composemasked_dropnmnoop_grid035040045_safe_margin0p20_noopbonus0p03_nmchallenger0p01_scales035040.json`
|
| 6 |
+
Completed seeds: 3
|
| 7 |
+
Baseline h=4 policy success: 29.67%
|
| 8 |
+
Baseline h=16 rank-checkpoint success: 29.74%
|
| 9 |
+
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| 10 |
+
Mean success: 36.00% +/- 1.31%
|
| 11 |
+
Gain vs h=16 rank checkpoint: +6.26%
|
| 12 |
+
Mean progress: 57.37%
|
| 13 |
+
Mean action MSE to best: 0.407
|
| 14 |
+
|
| 15 |
+
| seed | mode | k | policy cand | retrieval K | retrieval metric | residual anchor | residual direction | residual reduce | min type success | type success bonus | consensus penalty | min source progress | source progress bonus | source score bonus | residual scale | residual scales | margin | sigma | opt steps | trust | success | progress | oracle | candidate oracle | oracle gain | action MSE |
|
| 16 |
+
|---:|---|---:|---|---:|---|---|---|---|---:|---:|---:|---:|---:|---:|---:|---|---:|---:|---:|---:|---:|---:|---:|---:|---:|---:|
|
| 17 |
+
| 0 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss[0.35,0.4]@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 35.83% | 56.07% | 85.74% | n/a | n/a | 0.395 |
|
| 18 |
+
| 1 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss[0.35,0.4]@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 34.78% | 57.18% | 86.96% | n/a | n/a | 0.399 |
|
| 19 |
+
| 2 | retrieval_residual | 48 | no | 4 | raw | expert | candidate_minus_anchor | compose_mean_by_type + challenger residual_near_miss[0.35,0.4]@0.01 | 0.00 | 0.000 | 0.000 | 0.00 | 0.000 | 0.000 | 1.00 | 0.35,0.40,0.45 | 0.200 | 0.00 | 0 | 0.00 | 37.39% | 58.85% | 87.65% | n/a | n/a | 0.428 |
|