Add files using upload-large-folder tool

EVAL List.txt

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+# DONE-------------
+baseline_120k_v1
+mgrkd_v2_1_action_encoder_phase3_30k
+mgrkd_v2_1_raw_action_phase3_30k
+baseline_120k_v1_retrain
+rkd_v2_A_phase3_30k
+rkd_v2_1_DA_phase3_30k
+rkd_v2_1_A_phase3_30k
+mgd_0_3_phase3_30k
+rkd_v1_aux_fixed_0p5_temp0_1_phase3_30k
+rkd_v2_1_A_moresteps_200k
+rkd_v2_1_DA_moresteps_200k
+rkd_v2_1_DA_more_p2p3
+rkd_v2_1_DA_full_120k
+baseline_120k_v2
+mgrkd_kl_flatten_action_encoder [best]
+DA__Student_MeanPool___LP
+3ComponentProbMix
+RowWiseControlGatedAdaptiveProbMix
+Atomic65 Baseline
+
+# -----Training-----------
+RowWiseAdaptiveProbMix (From 60K)
+TimeWeightedRowWiseDTW (From 60K)
+TimeWeightedRowWiseDTW (From Base)
+EventWindowTimeWeightedRowWiseDTW (From 60K)
+
+#-------GPU 대기----------------
+VanillaDTW  (From 60K)
+DistanceMix  (From 60K)

RKD/README.md

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+# RKD Eval 라벨 정리
+
+이 폴더는 RKD 계열 RoboCasa eval 결과를 모아 둔 곳이다.
+기본 eval run은 `seed42_my_atomic26_nenv10`이며, 완료된 run은 `summary.txt`에 `CHECK PASSED`가 있고 task stats가 `26/26`이어야 한다.
+
+## 모델 라벨
+
+- `RKD v1 0.1`: 기존 RKD 구현체(`groot_rkd`). KL 기반 relation distillation을 쓰며 `rkd_temp=0.1` 설정이다. phase3는 FM + RKD 보조 loss 고정 weight `0.5`를 사용한다. Eval AVG: `54.2`.
+- `RKD v2 A`: RKD v2 구현체(`groot_rkd_v2`)의 angle-only 버전이다. `rkd_loss_type=angle`. Eval AVG: `55.1`.
+- `RKD v2.1 A`: v2와 같은 angle-only RKD 계열이며, v2.1 실험 묶음으로 재정리된 라벨이다. Eval AVG: `54.2`.
+- `RKD v2.1 DA`: v2.1의 distance+angle 버전이다. `rkd_loss_type=distance_angle`, distance weight `1.0`, angle weight `2.0`을 사용한다. Eval AVG: `54.2`.
+- `RKD v2.1 A MoreSteps`: angle-only RKD v2.1의 더 긴 학습/더 많은 step variant이다. Eval AVG: `53.5`.
+- `RKD v2.1 DA MoreSteps`: distance+angle RKD v2.1의 더 긴 학습/더 많은 step variant이다. Eval AVG: `54.2`.
+- `RKD v2.1 DA MoreP2&3`: baseline40 step-up 경로에서 phase2/phase3 학습 exposure를 더 준 distance+angle RKD v2.1 variant이다. Eval AVG: `53.9`.
+- `RKD DA ActionEncoderLP`: MGRKD/AP-head LP 계열 variant이며, teacher feature로 action encoder 출력을 사용한다. Eval AVG: `54.8`.
+- `RKD DA RawActionLP`: MGRKD/AP-head LP 계열 variant이며, teacher feature로 raw action을 사용한다. Eval AVG: `54.5`.
+
+## 버전 차이
+
+- `v1`: KL 기반 relation distillation만 사용한다. student/VLM relation distribution과 action-encoder teacher relation distribution을 temperature로 맞춘다. 여기 결과는 `rkd_temp=0.1`.
+- `v2`: RKD 구현을 일반화한 버전이다. `rkd_loss_type`으로 `kl`, `distance`, `angle`, `distance_angle`을 선택할 수 있고 diagonal exclusion 옵션도 들어간다.
+- `v2.1`: 코드 계열은 동일하게 `groot_rkd_v2`이며, 후속 실험 묶음으로 정리된 이름에 가깝다. 중요한 차이는 loss 선택이다.
+  - `A` = angle-only RKD.
+  - `DA` = distance + angle RKD.
+  - 현재 `DA`는 distance weight `1.0`, angle weight `2.0`을 사용한다.
+- `MoreSteps` / `MoreP2&3`: 새 RKD loss 정의가 아니라 학습 budget/exposure 차이이다.
+- `APHead_LP`: main RKD v2.1 A/DA와 teacher/source 경로가 달라서 별도 묶음으로 보는 것이 좋다.
+
+## 현재 분류
+
+- `RKD v1~2`: 기존 RKD v1과 RKD v2 angle-only 비교 묶음.
+- `RKD v2.1`: v2.1의 main A/DA 결과와 LP variant 묶음.
+- `RKD v2.1/Steps Ablation`: v2.1의 학습 exposure/step ablation 묶음.

RKD/RKD v1~2/RKD v2 A/pids/seed42_my_atomic26_nenv10.pid

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+2314434

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/episode_results.json

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+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
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+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
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+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
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+        "seed": 76,
+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
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+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
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+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
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+        "description": "The water running in the sink is hot. Adjust the faucet handle to run the water cold. Make sure to keep the water on.",
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+        "description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.",
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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/AdjustWaterTemperature/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseBlenderLid/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/CloseToasterOvenDoor/episode_results.json

@@ -0,0 +1,602 @@
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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/CoffeeSetupMug/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/NavigateKitchen/stats.json

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+}

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/episode_results.json

@@ -0,0 +1,602 @@
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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenDrawer/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenElectricKettleLid/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/OpenStandMixerHead/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/episode_results.json

@@ -0,0 +1,602 @@
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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCabinetToCounter/stats.json

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+            "description": "Pick the water bottle from the cabinet and place it on the counter.",
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+            "completion_order": 35,
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+            "description": "Pick the tupperware from the cabinet and place it on the counter.",
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+        {
+            "completion_order": 38,
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+            "seed": 80,
+            "description": "Pick the cheese from the cabinet and place it on the counter.",
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+        {
+            "completion_order": 39,
+            "task_name": "PickPlaceCabinetToCounter",
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+            "description": "Pick the bar from the cabinet and place it on the counter.",
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+        {
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+            "description": "Pick the broccoli from the cabinet and place it on the counter.",
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+            "description": "Pick the juice from the cabinet and place it on the counter.",
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+        },
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+        {
+            "completion_order": 44,
+            "task_name": "PickPlaceCabinetToCounter",
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+            "seed": 86,
+            "description": "Pick the cream cheese stick from the cabinet and place it on the counter.",
+            "success": false,
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+        },
+        {
+            "completion_order": 45,
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+            "description": "Pick the steak from the cabinet and place it on the counter.",
+            "success": true,
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+        },
+        {
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+            "seed": 88,
+            "description": "Pick the steak from the cabinet and place it on the counter.",
+            "success": false,
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+            "reward": 0.0,
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+        },
+        {
+            "completion_order": 47,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Pick the salt/pepper shaker from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 7,
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+        },
+        {
+            "completion_order": 48,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Pick the turmeric from the cabinet and place it on the counter.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
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+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "PickPlaceCabinetToCounter",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Pick the eggplant from the cabinet and place it on the counter.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/episode_results.json

@@ -0,0 +1,602 @@
+[
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+        "task_name": "PickPlaceCounterToCabinet",
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+    },
+    {
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+        "description": "Pick the avocado from the counter and place it in the cabinet.",
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+    },
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+    },
+    {
+        "completion_order": 13,
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+        "seed": 55,
+        "description": "Pick the yogurt from the counter and place it in the cabinet.",
+        "success": false,
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+        "reward": 0.0,
+        "env_idx": 3,
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+    },
+    {
+        "completion_order": 14,
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+        "seed": 56,
+        "description": "Pick the wine from the counter and place it in the cabinet.",
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+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 15,
+        "task_name": "PickPlaceCounterToCabinet",
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+        "seed": 57,
+        "description": "Pick the bowl from the counter and place it in the cabinet.",
+        "success": false,
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+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 16,
+        "task_name": "PickPlaceCounterToCabinet",
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+        "seed": 58,
+        "description": "Pick the pot from the counter and place it in the cabinet.",
+        "success": true,
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+        "reward": 37.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 17,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 17,
+        "seed": 59,
+        "description": "Pick the measuring cup from the counter and place it in the cabinet.",
+        "success": true,
+        "length": 47,
+        "reward": 35.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 18,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 18,
+        "seed": 60,
+        "description": "Pick the kettle from the counter and place it in the cabinet.",
+        "success": false,
+        "length": 47,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 19,
+        "task_name": "PickPlaceCounterToCabinet",
+        "episode_idx": 19,
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+]

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceCounterToCabinet/stats.json

@@ -0,0 +1,606 @@
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+        }
+    ]
+}

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/episode_results.json

@@ -0,0 +1,602 @@
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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceDrawerToCounter/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/PickPlaceToasterToCounter/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/SlideDishwasherRack/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffMicrowave/stats.json

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+}

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffSinkFaucet/stats.json

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+}

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOffStove/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnElectricKettle/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnSinkFaucet/stats.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/episode_results.json

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RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/evals/pretrain/TurnOnStove/stats.json

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+            "completion_order": 12,
+            "task_name": "TurnOnStove",
+            "episode_idx": 12,
+            "seed": 54,
+            "description": "Turn on the rear left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 13,
+            "task_name": "TurnOnStove",
+            "episode_idx": 13,
+            "seed": 55,
+            "description": "Turn on the front center burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 17.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 14,
+            "task_name": "TurnOnStove",
+            "episode_idx": 14,
+            "seed": 56,
+            "description": "Turn on the front center burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 15,
+            "task_name": "TurnOnStove",
+            "episode_idx": 15,
+            "seed": 57,
+            "description": "Turn on the front center burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 16,
+            "task_name": "TurnOnStove",
+            "episode_idx": 16,
+            "seed": 58,
+            "description": "Turn on the front right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 17,
+            "task_name": "TurnOnStove",
+            "episode_idx": 17,
+            "seed": 59,
+            "description": "Turn on the front left burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 22.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 18,
+            "task_name": "TurnOnStove",
+            "episode_idx": 18,
+            "seed": 60,
+            "description": "Turn on the front right burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 18.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 19,
+            "task_name": "TurnOnStove",
+            "episode_idx": 19,
+            "seed": 61,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 20,
+            "task_name": "TurnOnStove",
+            "episode_idx": 20,
+            "seed": 62,
+            "description": "Turn on the front left burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 18.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 21,
+            "task_name": "TurnOnStove",
+            "episode_idx": 21,
+            "seed": 63,
+            "description": "Turn on the front left burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 15.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 22,
+            "task_name": "TurnOnStove",
+            "episode_idx": 22,
+            "seed": 64,
+            "description": "Turn on the front left burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 22.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 23,
+            "task_name": "TurnOnStove",
+            "episode_idx": 23,
+            "seed": 65,
+            "description": "Turn on the front right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 24,
+            "task_name": "TurnOnStove",
+            "episode_idx": 24,
+            "seed": 66,
+            "description": "Turn on the front right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 25,
+            "task_name": "TurnOnStove",
+            "episode_idx": 25,
+            "seed": 67,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 26,
+            "task_name": "TurnOnStove",
+            "episode_idx": 26,
+            "seed": 68,
+            "description": "Turn on the front right burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 23.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 27,
+            "task_name": "TurnOnStove",
+            "episode_idx": 27,
+            "seed": 69,
+            "description": "Turn on the front left burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 18.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 28,
+            "task_name": "TurnOnStove",
+            "episode_idx": 28,
+            "seed": 70,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 29,
+            "task_name": "TurnOnStove",
+            "episode_idx": 29,
+            "seed": 71,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 30,
+            "task_name": "TurnOnStove",
+            "episode_idx": 30,
+            "seed": 72,
+            "description": "Turn on the front right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 31,
+            "task_name": "TurnOnStove",
+            "episode_idx": 31,
+            "seed": 73,
+            "description": "Turn on the front left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 32,
+            "task_name": "TurnOnStove",
+            "episode_idx": 32,
+            "seed": 74,
+            "description": "Turn on the front right burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 33,
+            "task_name": "TurnOnStove",
+            "episode_idx": 33,
+            "seed": 75,
+            "description": "Turn on the rear left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 34,
+            "task_name": "TurnOnStove",
+            "episode_idx": 34,
+            "seed": 76,
+            "description": "Turn on the front left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 35,
+            "task_name": "TurnOnStove",
+            "episode_idx": 35,
+            "seed": 77,
+            "description": "Turn on the front center burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 36,
+            "task_name": "TurnOnStove",
+            "episode_idx": 36,
+            "seed": 78,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 37,
+            "task_name": "TurnOnStove",
+            "episode_idx": 37,
+            "seed": 79,
+            "description": "Turn on the front right burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 20.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 38,
+            "task_name": "TurnOnStove",
+            "episode_idx": 38,
+            "seed": 80,
+            "description": "Turn on the rear left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 39,
+            "task_name": "TurnOnStove",
+            "episode_idx": 39,
+            "seed": 81,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 19.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 40,
+            "task_name": "TurnOnStove",
+            "episode_idx": 40,
+            "seed": 82,
+            "description": "Turn on the front left burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 16.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 41,
+            "task_name": "TurnOnStove",
+            "episode_idx": 41,
+            "seed": 83,
+            "description": "Turn on the front left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 42,
+            "task_name": "TurnOnStove",
+            "episode_idx": 42,
+            "seed": 84,
+            "description": "Turn on the front left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 43,
+            "task_name": "TurnOnStove",
+            "episode_idx": 43,
+            "seed": 85,
+            "description": "Turn on the rear center burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 44,
+            "task_name": "TurnOnStove",
+            "episode_idx": 44,
+            "seed": 86,
+            "description": "Turn on the front left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 45,
+            "task_name": "TurnOnStove",
+            "episode_idx": 45,
+            "seed": 87,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 46,
+            "task_name": "TurnOnStove",
+            "episode_idx": 46,
+            "seed": 88,
+            "description": "Turn on the front left burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "TurnOnStove",
+            "episode_idx": 47,
+            "seed": 89,
+            "description": "Turn on the front left burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 15.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 48,
+            "task_name": "TurnOnStove",
+            "episode_idx": 48,
+            "seed": 90,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": true,
+            "length": 29,
+            "reward": 17.0,
+            "env_idx": 8,
+            "video_path": null
+        },
+        {
+            "completion_order": 49,
+            "task_name": "TurnOnStove",
+            "episode_idx": 49,
+            "seed": 91,
+            "description": "Turn on the rear right burner of the stove.",
+            "success": false,
+            "length": 29,
+            "reward": 0.0,
+            "env_idx": 9,
+            "video_path": null
+        }
+    ]
+}

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/resolved_config.yaml

@@ -0,0 +1,44 @@
+experiment_name: rkd_v2_angle_phase2_phase3_aux_fixed_0p5
+policy_type: groot_rkd_v2
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 42
+model: null
+phases:
+- name: phase2_rkd_a_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+    rkd_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
+- name: phase3_fm_rkd_a_fixed_0p5
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
+resolved_sweep: {}

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/rkd_v2_a.yaml

@@ -0,0 +1,43 @@
+experiment_name: rkd_v2_angle_phase2_phase3_aux_fixed_0p5
+policy_type: groot_rkd_v2
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 42
+model: null
+phases:
+- name: phase2_rkd_a_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+    rkd_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
+- name: phase3_fm_rkd_a_fixed_0p5
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/selected_eval_config.yaml

@@ -0,0 +1,44 @@
+experiment_name: rkd_v2_angle_phase2_phase3_aux_fixed_0p5
+policy_type: groot_rkd_v2
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 42
+model: null
+phases:
+- name: phase2_rkd_a_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+    rkd_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
+- name: phase3_fm_rkd_a_fixed_0p5
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_relation_mode: token_pair_mean
+    rkd_loss_type: angle
+    rkd_exclude_diagonal: true
+resolved_sweep: {}

RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10/summary.txt

@@ -0,0 +1,59 @@
+Eval metadata
+- total_eval_time: 4h 34m 43s (16482.61s)
+- model_path: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle/default/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle/default
+- video_dir: /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_A_phase3_30k/seed42_my_atomic26_nenv10
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- episode_seed_start: None
+- episode_seed_manifest: /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/eval_seed42.json
+- episode_manifest_output: None
+- command: my_scripts/run_eval.py --model_path /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle/default/phase3 --video_dir /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_A_phase3_30k/seed42_my_atomic26_nenv10 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4934 --seed 42 --episode_seed_manifest /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/eval_seed42.json
+- config_yaml_candidates:
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle/default/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle/default/rkd_v2_a.yaml
+- selected_config_yaml: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2/rkd_v2_angle/default/resolved_config.yaml
+- copied_config_yamls:
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_A_phase3_30k/seed42_my_atomic26_nenv10/resolved_config.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_A_phase3_30k/seed42_my_atomic26_nenv10/rkd_v2_a.yaml
+  - /home/ext_minje/groot_robocasa/Experiments_v2/rkd_v2_A_phase3_30k/seed42_my_atomic26_nenv10/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 8 | None
+CloseFridge: 80 | None
+CloseToasterOvenDoor: 74 | None
+CoffeeSetupMug: 44 | None
+NavigateKitchen: 38 | None
+OpenCabinet: 56 | None
+OpenDrawer: 58 | None
+OpenStandMixerHead: 92 | None
+PickPlaceCounterToCabinet: 50 | None
+PickPlaceCounterToStove: 32 | None
+PickPlaceDrawerToCounter: 38 | None
+PickPlaceSinkToCounter: 66 | None
+PickPlaceToasterToCounter: 80 | None
+PickPlaceCabinetToCounter: 50 | None
+TurnOnElectricKettle: 74 | None
+TurnOnMicrowave: 30 | None
+TurnOffMicrowave: 32 | None
+OpenElectricKettleLid: 60 | None
+SlideDishwasherRack: 68 | None
+TurnOnSinkFaucet: 72 | None
+TurnSinkSpout: 98 | None
+TurnOffSinkFaucet: 84 | None
+AdjustWaterTemperature: 56 | None
+TurnOffStove: 24 | None
+TurnOnStove: 40 | None
+AdjustToasterOvenTemperature: 28 | None
+AVG: 55.1 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED

Table.tsv

@@ -0,0 +1,29 @@
+Group	Reference	Non-KL	Non-KL	Non-KL	Non-KL	Non-KL	Non-KL	Non-KL	Non-KL	Non-KL	Non-KL	Non-KL	Non-KL	KL	KL	KL
+Task	baseline_120k_v1	RKD v2 A	DA ActionEnc LP	DA RawAction LP	MeanPool+LP	RKD v1 0.1	RKD v2.1 A	RKD v2.1 DA	DA MoreSteps	MGD 0.3	DA MoreP2&3	A MoreSteps	DA Full 120k	RowWiseControlGated	Flatten ActionEnc	ComponentProbMix
+AVG	53.9 (+0)	55.1 (+1.2)	54.8 (+0.9)	54.5 (+0.5)	54.2 (+0.3)	54.2 (+0.3)	54.2 (+0.2)	54.2 (+0.3)	54.2 (+0.2)	54 (+0.1)	53.9 (+0)	53.5 (-0.4)	47.8 (-6.1)	55.8 (+1.8)	55.5 (+1.6)	53.6 (-0.3)
+CloseBlenderLid	12 (+0)	8 (-4)	8 (-4)	8 (-4)	12 (+0)	8 (-4)	14 (+2)	6 (-6)	6 (-6)	6 (-6)	8 (-4)	12 (+0)	2 (-10)	10 (-2)	14 (+2)	6 (-6)
+CloseFridge	84 (+0)	80 (-4)	86 (+2)	82 (-2)	80 (-4)	84 (+0)	76 (-8)	80 (-4)	80 (-4)	78 (-6)	88 (+4)	76 (-8)	78 (-6)	88 (+4)	76 (-8)	70 (-14)
+CloseToasterOvenDoor	74 (+0)	74 (+0)	66 (-8)	66 (-8)	70 (-4)	68 (-6)	70 (-4)	76 (+2)	76 (+2)	74 (+0)	72 (-2)	70 (-4)	66 (-8)	82 (+8)	70 (-4)	70 (-4)
+CoffeeSetupMug	46 (+0)	44 (-2)	38 (-8)	38 (-8)	38 (-8)	24 (-22)	38 (-8)	36 (-10)	36 (-10)	40 (-6)	34 (-12)	38 (-8)	44 (-2)	34 (-12)	50 (+4)	46 (+0)
+NavigateKitchen	32 (+0)	38 (+6)	44 (+12)	40 (+8)	42 (+10)	42 (+10)	32 (+0)	40 (+8)	40 (+8)	40 (+8)	50 (+18)	36 (+4)	36 (+4)	42 (+10)	46 (+14)	36 (+4)
+OpenCabinet	54 (+0)	56 (+2)	48 (-6)	54 (+0)	56 (+2)	58 (+4)	60 (+6)	52 (-2)	52 (-2)	50 (-4)	58 (+4)	60 (+6)	36 (-18)	56 (+2)	56 (+2)	50 (-4)
+OpenDrawer	54 (+0)	58 (+4)	50 (-4)	52 (-2)	58 (+4)	52 (-2)	52 (-2)	60 (+6)	60 (+6)	58 (+4)	56 (+2)	52 (-2)	46 (-8)	62 (+8)	48 (-6)	62 (+8)
+OpenStandMixerHead	92 (+0)	92 (+0)	94 (+2)	94 (+2)	90 (-2)	94 (+2)	90 (-2)	90 (-2)	90 (-2)	90 (-2)	92 (+0)	90 (-2)	92 (+0)	94 (+2)	94 (+2)	90 (-2)
+PickPlaceCounterToCabinet	46 (+0)	50 (+4)	44 (-2)	50 (+4)	50 (+4)	48 (+2)	46 (+0)	44 (-2)	44 (-2)	42 (-4)	44 (-2)	46 (+0)	30 (-16)	48 (+2)	50 (+4)	36 (-10)
+PickPlaceCounterToStove	22 (+0)	32 (+10)	40 (+18)	40 (+18)	42 (+20)	44 (+22)	40 (+18)	38 (+16)	38 (+16)	38 (+16)	50 (+28)	40 (+18)	38 (+16)	40 (+18)	32 (+10)	48 (+26)
+PickPlaceDrawerToCounter	50 (+0)	38 (-12)	48 (-2)	34 (-16)	44 (-6)	40 (-10)	44 (-6)	46 (-4)	46 (-4)	42 (-8)	38 (-12)	44 (-6)	40 (-10)	46 (-4)	44 (-6)	38 (-12)
+PickPlaceSinkToCounter	62 (+0)	66 (+4)	62 (+0)	64 (+2)	74 (+12)	62 (+0)	68 (+6)	64 (+2)	66 (+4)	64 (+2)	54 (-8)	52 (-10)	42 (-20)	64 (+2)	72 (+10)	68 (+6)
+PickPlaceToasterToCounter	86 (+0)	80 (-6)	76 (-10)	78 (-8)	76 (-10)	80 (-6)	82 (-4)	84 (-2)	84 (-2)	80 (-6)	82 (-4)	82 (-4)	74 (-12)	76 (-10)	84 (-2)	88 (+2)
+PickPlaceCabinetToCounter	52 (+0)	50 (-2)	54 (+2)	60 (+8)	-	56 (+4)	50 (-2)	50 (-2)	50 (-2)	54 (+2)	56 (+4)	50 (-2)	36 (-16)	52 (+0)	46 (-6)	52 (+0)
+TurnOnElectricKettle	78 (+0)	74 (-4)	74 (-4)	78 (+0)	78 (+0)	82 (+4)	84 (+6)	78 (+0)	74 (-4)	80 (+2)	86 (+8)	84 (+6)	78 (+0)	82 (+4)	82 (+4)	80 (+2)
+TurnOnMicrowave	38 (+0)	30 (-8)	38 (+0)	42 (+4)	26 (-12)	30 (-8)	32 (-6)	20 (-18)	20 (-18)	30 (-8)	20 (-18)	32 (-6)	26 (-12)	28 (-10)	32 (-6)	30 (-8)
+TurnOffMicrowave	26 (+0)	32 (+6)	24 (-2)	28 (+2)	-	26 (+0)	26 (+0)	24 (-2)	24 (-2)	28 (+2)	24 (-2)	26 (+0)	24 (-2)	36 (+10)	28 (+2)	28 (+2)
+OpenElectricKettleLid	50 (+0)	60 (+10)	50 (+0)	50 (+0)	-	48 (-2)	56 (+6)	60 (+10)	56 (+6)	66 (+16)	46 (-4)	56 (+6)	38 (-12)	54 (+4)	56 (+6)	64 (+14)
+SlideDishwasherRack	70 (+0)	68 (-2)	72 (+2)	68 (-2)	70 (+0)	62 (-8)	70 (+0)	70 (+0)	70 (+0)	62 (-8)	68 (-2)	70 (+0)	70 (+0)	72 (+2)	72 (+2)	78 (+8)
+TurnOnSinkFaucet	66 (+0)	72 (+6)	74 (+8)	70 (+4)	66 (+0)	74 (+8)	68 (+2)	68 (+2)	70 (+4)	58 (-8)	58 (-8)	66 (+0)	60 (-6)	66 (+0)	68 (+2)	52 (-14)
+TurnSinkSpout	98 (+0)	98 (+0)	98 (+0)	96 (-2)	-	96 (-2)	98 (+0)	96 (-2)	96 (-2)	96 (-2)	98 (+0)	94 (-4)	88 (-10)	96 (-2)	96 (-2)	90 (-8)
+TurnOffSinkFaucet	84 (+0)	84 (+0)	92 (+8)	82 (-2)	-	86 (+2)	84 (+0)	86 (+2)	88 (+4)	90 (+6)	88 (+4)	88 (+4)	94 (+10)	84 (+0)	80 (-4)	90 (+6)
+AdjustWaterTemperature	46 (+0)	56 (+10)	58 (+12)	56 (+10)	-	58 (+12)	52 (+6)	56 (+10)	56 (+10)	50 (+4)	48 (+2)	52 (+6)	42 (-4)	54 (+8)	50 (+4)	42 (-4)
+TurnOffStove	24 (+0)	24 (+0)	24 (+0)	26 (+2)	28 (+4)	24 (+0)	26 (+2)	28 (+4)	28 (+4)	26 (+2)	22 (-2)	26 (+2)	20 (-4)	26 (+2)	24 (+0)	24 (+0)
+TurnOnStove	30 (+0)	40 (+10)	32 (+2)	28 (-2)	-	38 (+8)	30 (+0)	40 (+10)	40 (+10)	38 (+8)	40 (+10)	30 (+0)	30 (+0)	36 (+6)	44 (+14)	30 (+0)
+AdjustToasterOvenTemperature	26 (+0)	28 (+2)	32 (+6)	32 (+6)	30 (+4)	26 (+0)	20 (-6)	18 (-8)	18 (-8)	24 (-2)	22 (-4)	20 (-6)	14 (-12)	22 (-4)	30 (+4)	26 (+0)

task_level_eval_table.md

@@ -0,0 +1,596 @@
+# RoboCasa Atomic26 Task-Level Eval Table
+
+- Source root: `/home/minje/dgx_h200/groot_robocasa/Experiments_v2` plus 48server runs noted below.
+- Run tag: `seed42_my_atomic26_nenv10`.
+- Column order: `baseline_120k_v1` fixed first, non-KL columns sorted by current AVG descending, KL columns grouped at the right and sorted by current AVG descending.
+- Task-level column headers use short display names; `Task Counts` and `Source Paths` keep the full labels and requested slugs.
+- Cell format: `score (delta vs baseline_120k_v1)`. Missing task results are `-`.
+- AVG row is shown first. AVG uses the tasks available for each individual run, so partial runs average only completed tasks.
+- `RKD_v2.1_DA__Student_MeanPool___LP` is included only up to currently available `stats.json` outputs.
+- Colored table artifact: `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/Table.png`.
+
+## Task Counts
+
+| Model label | Requested slug | Tasks | AVG (delta) | Summary |
+|---|---:|---:|---:|---|
+| baseline_120k_v1 | `baseline_120k_v1` | 26/26 | 53.9 (+0) | summary.txt |
+| RKD v2 A | `rkd_v2_A_phase3_30k` | 26/26 | 55.1 (+1.2) | summary.txt |
+| RKD DA ActionEncoderLP | `mgrkd_v2_1_action_encoder_phase3_30k` | 26/26 | 54.8 (+0.9) | summary.txt |
+| RKD DA RawActionLP | `mgrkd_v2_1_raw_action_phase3_30k` | 26/26 | 54.5 (+0.5) | summary.txt |
+| RKD MeanPool+LP | `RKD_v2.1_DA__Student_MeanPool___LP` | 19/26 | 54.2 (+0.3) | stats.json partial |
+| RKD v1 0.1 | `rkd_v1_aux_fixed_0p5_temp0_1_phase3_30k` | 26/26 | 54.2 (+0.3) | summary.txt |
+| RKD v2.1 A | `rkd_v2_1_A_phase3_30k` | 26/26 | 54.2 (+0.2) | summary.txt |
+| RKD v2.1 DA | `rkd_v2_1_DA_phase3_30k` | 26/26 | 54.2 (+0.3) | summary.txt |
+| RKD v2.1 DA MoreSteps | `rkd_v2_1_DA_moresteps_200k` | 26/26 | 54.2 (+0.2) | summary.txt |
+| MGD 0.3 | `mgd_0_3_phase3_30k` | 26/26 | 54 (+0.1) | summary.txt |
+| RKD v2.1 DA MoreP2&3 | `rkd_v2_1_DA_more_p2p3` | 26/26 | 53.9 (+0) | summary.txt |
+| RKD v2.1 A MoreSteps | `rkd_v2_1_A_moresteps_200k` | 26/26 | 53.5 (-0.4) | summary.txt |
+| rkd_v2_1_DA_full_120k | `rkd_v2_1_DA_full_120k` | 26/26 | 47.8 (-6.1) | summary.txt |
+| RowWiseControlGated KL-DTW | `RKD v2.1 KL-DTW APHead RowWiseControlGatedAdaptiveProbMix` | 26/26 | 55.8 (+1.8) | summary.txt |
+| mgrkd_kl_flatten_action_encoder | `mgrkd_kl_flatten_action_encoder` | 26/26 | 55.5 (+1.6) | summary.txt |
+| ComponentProbMix KL-DTW | `RKD v2.1 KL-DTW APHead ComponentProbMix` | 26/26 | 53.6 (-0.3) | summary.txt |
+
+## Task-Level Scores
+
+<table>
+<thead>
+<tr>
+<th rowspan="2">Task</th>
+<th colspan="1">Reference</th>
+<th colspan="12">Non-KL</th>
+<th colspan="3">KL</th>
+</tr>
+<tr>
+<th>baseline_120k_v1</th>
+<th>RKD v2 A</th>
+<th>DA ActionEnc LP</th>
+<th>DA RawAction LP</th>
+<th>MeanPool+LP</th>
+<th>RKD v1 0.1</th>
+<th>RKD v2.1 A</th>
+<th>RKD v2.1 DA</th>
+<th>DA MoreSteps</th>
+<th>MGD 0.3</th>
+<th>DA MoreP2&amp;3</th>
+<th>A MoreSteps</th>
+<th>DA Full 120k</th>
+<th>RowWiseControlGated</th>
+<th>Flatten ActionEnc</th>
+<th>ComponentProbMix</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td style="background:#f4f4f4;font-weight:700;">AVG</td>
+<td style="background:#f4f4f4;font-weight:700;">53.9 (+0)</td>
+<td style="background:#f4f4f4;font-weight:700;">55.1 (+1.2)</td>
+<td style="background:#f4f4f4;font-weight:700;">54.8 (+0.9)</td>
+<td style="background:#f4f4f4;font-weight:700;">54.5 (+0.5)</td>
+<td style="background:#f4f4f4;font-weight:700;">54.2 (+0.3)</td>
+<td style="background:#f4f4f4;font-weight:700;">54.2 (+0.3)</td>
+<td style="background:#f4f4f4;font-weight:700;">54.2 (+0.2)</td>
+<td style="background:#f4f4f4;font-weight:700;">54.2 (+0.3)</td>
+<td style="background:#f4f4f4;font-weight:700;">54.2 (+0.2)</td>
+<td style="background:#f4f4f4;font-weight:700;">54 (+0.1)</td>
+<td style="background:#f4f4f4;font-weight:700;">53.9 (+0)</td>
+<td style="background:#f4f4f4;font-weight:700;">53.5 (-0.4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">47.8 (-6.1)</td>
+<td style="background:#f4f4f4;font-weight:700;">55.8 (+1.8)</td>
+<td style="background:#f4f4f4;font-weight:700;">55.5 (+1.6)</td>
+<td style="background:#f4f4f4;font-weight:700;">53.6 (-0.3)</td>
+</tr>
+<tr>
+<td style="background:white;">CloseBlenderLid</td>
+<td style="background:white;">12 (+0)</td>
+<td style="background:white;">8 (-4)</td>
+<td style="background:white;">8 (-4)</td>
+<td style="background:white;">8 (-4)</td>
+<td style="background:white;">12 (+0)</td>
+<td style="background:white;">8 (-4)</td>
+<td style="background:white;">14 (+2)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">6 (-6)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">6 (-6)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">6 (-6)</td>
+<td style="background:white;">8 (-4)</td>
+<td style="background:white;">12 (+0)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">2 (-10)</td>
+<td style="background:white;">10 (-2)</td>
+<td style="background:white;">14 (+2)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">6 (-6)</td>
+</tr>
+<tr>
+<td style="background:white;">CloseFridge</td>
+<td style="background:white;">84 (+0)</td>
+<td style="background:white;">80 (-4)</td>
+<td style="background:white;">86 (+2)</td>
+<td style="background:white;">82 (-2)</td>
+<td style="background:white;">80 (-4)</td>
+<td style="background:white;">84 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">76 (-8)</td>
+<td style="background:white;">80 (-4)</td>
+<td style="background:white;">80 (-4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">78 (-6)</td>
+<td style="background:white;">88 (+4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">76 (-8)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">78 (-6)</td>
+<td style="background:white;">88 (+4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">76 (-8)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">70 (-14)</td>
+</tr>
+<tr>
+<td style="background:white;">CloseToasterOvenDoor</td>
+<td style="background:white;">74 (+0)</td>
+<td style="background:white;">74 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">66 (-8)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">66 (-8)</td>
+<td style="background:white;">70 (-4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">68 (-6)</td>
+<td style="background:white;">70 (-4)</td>
+<td style="background:white;">76 (+2)</td>
+<td style="background:white;">76 (+2)</td>
+<td style="background:white;">74 (+0)</td>
+<td style="background:white;">72 (-2)</td>
+<td style="background:white;">70 (-4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">66 (-8)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">82 (+8)</td>
+<td style="background:white;">70 (-4)</td>
+<td style="background:white;">70 (-4)</td>
+</tr>
+<tr>
+<td style="background:white;">CoffeeSetupMug</td>
+<td style="background:white;">46 (+0)</td>
+<td style="background:white;">44 (-2)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">24 (-22)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-10)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-10)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">40 (-6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">34 (-12)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td>
+<td style="background:white;">44 (-2)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">34 (-12)</td>
+<td style="background:white;">50 (+4)</td>
+<td style="background:white;">46 (+0)</td>
+</tr>
+<tr>
+<td style="background:white;">NavigateKitchen</td>
+<td style="background:white;">32 (+0)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">38 (+6)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">44 (+12)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">40 (+8)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">42 (+10)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">42 (+10)</td>
+<td style="background:white;">32 (+0)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">40 (+8)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">40 (+8)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">40 (+8)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">50 (+18)</td>
+<td style="background:white;">36 (+4)</td>
+<td style="background:white;">36 (+4)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">42 (+10)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">46 (+14)</td>
+<td style="background:white;">36 (+4)</td>
+</tr>
+<tr>
+<td style="background:white;">OpenCabinet</td>
+<td style="background:white;">54 (+0)</td>
+<td style="background:white;">56 (+2)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">48 (-6)</td>
+<td style="background:white;">54 (+0)</td>
+<td style="background:white;">56 (+2)</td>
+<td style="background:white;">58 (+4)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+6)</td>
+<td style="background:white;">52 (-2)</td>
+<td style="background:white;">52 (-2)</td>
+<td style="background:white;">50 (-4)</td>
+<td style="background:white;">58 (+4)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-18)</td>
+<td style="background:white;">56 (+2)</td>
+<td style="background:white;">56 (+2)</td>
+<td style="background:white;">50 (-4)</td>
+</tr>
+<tr>
+<td style="background:white;">OpenDrawer</td>
+<td style="background:white;">54 (+0)</td>
+<td style="background:white;">58 (+4)</td>
+<td style="background:white;">50 (-4)</td>
+<td style="background:white;">52 (-2)</td>
+<td style="background:white;">58 (+4)</td>
+<td style="background:white;">52 (-2)</td>
+<td style="background:white;">52 (-2)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+6)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+6)</td>
+<td style="background:white;">58 (+4)</td>
+<td style="background:white;">56 (+2)</td>
+<td style="background:white;">52 (-2)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">46 (-8)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">62 (+8)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">48 (-6)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">62 (+8)</td>
+</tr>
+<tr>
+<td style="background:white;">OpenStandMixerHead</td>
+<td style="background:white;">92 (+0)</td>
+<td style="background:white;">92 (+0)</td>
+<td style="background:white;">94 (+2)</td>
+<td style="background:white;">94 (+2)</td>
+<td style="background:white;">90 (-2)</td>
+<td style="background:white;">94 (+2)</td>
+<td style="background:white;">90 (-2)</td>
+<td style="background:white;">90 (-2)</td>
+<td style="background:white;">90 (-2)</td>
+<td style="background:white;">90 (-2)</td>
+<td style="background:white;">92 (+0)</td>
+<td style="background:white;">90 (-2)</td>
+<td style="background:white;">92 (+0)</td>
+<td style="background:white;">94 (+2)</td>
+<td style="background:white;">94 (+2)</td>
+<td style="background:white;">90 (-2)</td>
+</tr>
+<tr>
+<td style="background:white;">PickPlaceCounterToCabinet</td>
+<td style="background:white;">46 (+0)</td>
+<td style="background:white;">50 (+4)</td>
+<td style="background:white;">44 (-2)</td>
+<td style="background:white;">50 (+4)</td>
+<td style="background:white;">50 (+4)</td>
+<td style="background:white;">48 (+2)</td>
+<td style="background:white;">46 (+0)</td>
+<td style="background:white;">44 (-2)</td>
+<td style="background:white;">44 (-2)</td>
+<td style="background:white;">42 (-4)</td>
+<td style="background:white;">44 (-2)</td>
+<td style="background:white;">46 (+0)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">30 (-16)</td>
+<td style="background:white;">48 (+2)</td>
+<td style="background:white;">50 (+4)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-10)</td>
+</tr>
+<tr>
+<td style="background:white;">PickPlaceCounterToStove</td>
+<td style="background:white;">22 (+0)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">32 (+10)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">42 (+20)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">44 (+22)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">38 (+16)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">38 (+16)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">38 (+16)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">50 (+28)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">38 (+16)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">32 (+10)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">48 (+26)</td>
+</tr>
+<tr>
+<td style="background:white;">PickPlaceDrawerToCounter</td>
+<td style="background:white;">50 (+0)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">38 (-12)</td>
+<td style="background:white;">48 (-2)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">34 (-16)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">44 (-6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">40 (-10)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">44 (-6)</td>
+<td style="background:white;">46 (-4)</td>
+<td style="background:white;">46 (-4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">42 (-8)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">38 (-12)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">44 (-6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">40 (-10)</td>
+<td style="background:white;">46 (-4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">44 (-6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">38 (-12)</td>
+</tr>
+<tr>
+<td style="background:white;">PickPlaceSinkToCounter</td>
+<td style="background:white;">62 (+0)</td>
+<td style="background:white;">66 (+4)</td>
+<td style="background:white;">62 (+0)</td>
+<td style="background:white;">64 (+2)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">74 (+12)</td>
+<td style="background:white;">62 (+0)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">68 (+6)</td>
+<td style="background:white;">64 (+2)</td>
+<td style="background:white;">66 (+4)</td>
+<td style="background:white;">64 (+2)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">54 (-8)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">52 (-10)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">42 (-20)</td>
+<td style="background:white;">64 (+2)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">72 (+10)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">68 (+6)</td>
+</tr>
+<tr>
+<td style="background:white;">PickPlaceToasterToCounter</td>
+<td style="background:white;">86 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">80 (-6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">76 (-10)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">78 (-8)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">76 (-10)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">80 (-6)</td>
+<td style="background:white;">82 (-4)</td>
+<td style="background:white;">84 (-2)</td>
+<td style="background:white;">84 (-2)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">80 (-6)</td>
+<td style="background:white;">82 (-4)</td>
+<td style="background:white;">82 (-4)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">74 (-12)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">76 (-10)</td>
+<td style="background:white;">84 (-2)</td>
+<td style="background:white;">88 (+2)</td>
+</tr>
+<tr>
+<td style="background:white;">PickPlaceCabinetToCounter</td>
+<td style="background:white;">52 (+0)</td>
+<td style="background:white;">50 (-2)</td>
+<td style="background:white;">54 (+2)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+8)</td>
+<td style="background:white;">-</td>
+<td style="background:white;">56 (+4)</td>
+<td style="background:white;">50 (-2)</td>
+<td style="background:white;">50 (-2)</td>
+<td style="background:white;">50 (-2)</td>
+<td style="background:white;">54 (+2)</td>
+<td style="background:white;">56 (+4)</td>
+<td style="background:white;">50 (-2)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-16)</td>
+<td style="background:white;">52 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">46 (-6)</td>
+<td style="background:white;">52 (+0)</td>
+</tr>
+<tr>
+<td style="background:white;">TurnOnElectricKettle</td>
+<td style="background:white;">78 (+0)</td>
+<td style="background:white;">74 (-4)</td>
+<td style="background:white;">74 (-4)</td>
+<td style="background:white;">78 (+0)</td>
+<td style="background:white;">78 (+0)</td>
+<td style="background:white;">82 (+4)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">84 (+6)</td>
+<td style="background:white;">78 (+0)</td>
+<td style="background:white;">74 (-4)</td>
+<td style="background:white;">80 (+2)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">86 (+8)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">84 (+6)</td>
+<td style="background:white;">78 (+0)</td>
+<td style="background:white;">82 (+4)</td>
+<td style="background:white;">82 (+4)</td>
+<td style="background:white;">80 (+2)</td>
+</tr>
+<tr>
+<td style="background:white;">TurnOnMicrowave</td>
+<td style="background:white;">38 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">30 (-8)</td>
+<td style="background:white;">38 (+0)</td>
+<td style="background:white;">42 (+4)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">26 (-12)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">30 (-8)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">32 (-6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">20 (-18)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">20 (-18)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">30 (-8)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">20 (-18)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">32 (-6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">26 (-12)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">28 (-10)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">32 (-6)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">30 (-8)</td>
+</tr>
+<tr>
+<td style="background:white;">TurnOffMicrowave</td>
+<td style="background:white;">26 (+0)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">32 (+6)</td>
+<td style="background:white;">24 (-2)</td>
+<td style="background:white;">28 (+2)</td>
+<td style="background:white;">-</td>
+<td style="background:white;">26 (+0)</td>
+<td style="background:white;">26 (+0)</td>
+<td style="background:white;">24 (-2)</td>
+<td style="background:white;">24 (-2)</td>
+<td style="background:white;">28 (+2)</td>
+<td style="background:white;">24 (-2)</td>
+<td style="background:white;">26 (+0)</td>
+<td style="background:white;">24 (-2)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">36 (+10)</td>
+<td style="background:white;">28 (+2)</td>
+<td style="background:white;">28 (+2)</td>
+</tr>
+<tr>
+<td style="background:white;">OpenElectricKettleLid</td>
+<td style="background:white;">50 (+0)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">60 (+10)</td>
+<td style="background:white;">50 (+0)</td>
+<td style="background:white;">50 (+0)</td>
+<td style="background:white;">-</td>
+<td style="background:white;">48 (-2)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">56 (+6)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">60 (+10)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">56 (+6)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">66 (+16)</td>
+<td style="background:white;">46 (-4)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">56 (+6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">38 (-12)</td>
+<td style="background:white;">54 (+4)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">56 (+6)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">64 (+14)</td>
+</tr>
+<tr>
+<td style="background:white;">SlideDishwasherRack</td>
+<td style="background:white;">70 (+0)</td>
+<td style="background:white;">68 (-2)</td>
+<td style="background:white;">72 (+2)</td>
+<td style="background:white;">68 (-2)</td>
+<td style="background:white;">70 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">62 (-8)</td>
+<td style="background:white;">70 (+0)</td>
+<td style="background:white;">70 (+0)</td>
+<td style="background:white;">70 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">62 (-8)</td>
+<td style="background:white;">68 (-2)</td>
+<td style="background:white;">70 (+0)</td>
+<td style="background:white;">70 (+0)</td>
+<td style="background:white;">72 (+2)</td>
+<td style="background:white;">72 (+2)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">78 (+8)</td>
+</tr>
+<tr>
+<td style="background:white;">TurnOnSinkFaucet</td>
+<td style="background:white;">66 (+0)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">72 (+6)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">74 (+8)</td>
+<td style="background:white;">70 (+4)</td>
+<td style="background:white;">66 (+0)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">74 (+8)</td>
+<td style="background:white;">68 (+2)</td>
+<td style="background:white;">68 (+2)</td>
+<td style="background:white;">70 (+4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">58 (-8)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">58 (-8)</td>
+<td style="background:white;">66 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">60 (-6)</td>
+<td style="background:white;">66 (+0)</td>
+<td style="background:white;">68 (+2)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">52 (-14)</td>
+</tr>
+<tr>
+<td style="background:white;">TurnSinkSpout</td>
+<td style="background:white;">98 (+0)</td>
+<td style="background:white;">98 (+0)</td>
+<td style="background:white;">98 (+0)</td>
+<td style="background:white;">96 (-2)</td>
+<td style="background:white;">-</td>
+<td style="background:white;">96 (-2)</td>
+<td style="background:white;">98 (+0)</td>
+<td style="background:white;">96 (-2)</td>
+<td style="background:white;">96 (-2)</td>
+<td style="background:white;">96 (-2)</td>
+<td style="background:white;">98 (+0)</td>
+<td style="background:white;">94 (-4)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">88 (-10)</td>
+<td style="background:white;">96 (-2)</td>
+<td style="background:white;">96 (-2)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">90 (-8)</td>
+</tr>
+<tr>
+<td style="background:white;">TurnOffSinkFaucet</td>
+<td style="background:white;">84 (+0)</td>
+<td style="background:white;">84 (+0)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">92 (+8)</td>
+<td style="background:white;">82 (-2)</td>
+<td style="background:white;">-</td>
+<td style="background:white;">86 (+2)</td>
+<td style="background:white;">84 (+0)</td>
+<td style="background:white;">86 (+2)</td>
+<td style="background:white;">88 (+4)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">90 (+6)</td>
+<td style="background:white;">88 (+4)</td>
+<td style="background:white;">88 (+4)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">94 (+10)</td>
+<td style="background:white;">84 (+0)</td>
+<td style="background:white;">80 (-4)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">90 (+6)</td>
+</tr>
+<tr>
+<td style="background:white;">AdjustWaterTemperature</td>
+<td style="background:white;">46 (+0)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">56 (+10)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">58 (+12)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">56 (+10)</td>
+<td style="background:white;">-</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">58 (+12)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">52 (+6)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">56 (+10)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">56 (+10)</td>
+<td style="background:white;">50 (+4)</td>
+<td style="background:white;">48 (+2)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">52 (+6)</td>
+<td style="background:white;">42 (-4)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">54 (+8)</td>
+<td style="background:white;">50 (+4)</td>
+<td style="background:white;">42 (-4)</td>
+</tr>
+<tr>
+<td style="background:white;">TurnOffStove</td>
+<td style="background:white;">24 (+0)</td>
+<td style="background:white;">24 (+0)</td>
+<td style="background:white;">24 (+0)</td>
+<td style="background:white;">26 (+2)</td>
+<td style="background:white;">28 (+4)</td>
+<td style="background:white;">24 (+0)</td>
+<td style="background:white;">26 (+2)</td>
+<td style="background:white;">28 (+4)</td>
+<td style="background:white;">28 (+4)</td>
+<td style="background:white;">26 (+2)</td>
+<td style="background:white;">22 (-2)</td>
+<td style="background:white;">26 (+2)</td>
+<td style="background:white;">20 (-4)</td>
+<td style="background:white;">26 (+2)</td>
+<td style="background:white;">24 (+0)</td>
+<td style="background:white;">24 (+0)</td>
+</tr>
+<tr>
+<td style="background:white;">TurnOnStove</td>
+<td style="background:white;">30 (+0)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+10)</td>
+<td style="background:white;">32 (+2)</td>
+<td style="background:white;">28 (-2)</td>
+<td style="background:white;">-</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">38 (+8)</td>
+<td style="background:white;">30 (+0)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+10)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+10)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">38 (+8)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+10)</td>
+<td style="background:white;">30 (+0)</td>
+<td style="background:white;">30 (+0)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">36 (+6)</td>
+<td style="background:#f8c9a8;font-weight:700;color:#7a3300;">44 (+14)</td>
+<td style="background:white;">30 (+0)</td>
+</tr>
+<tr>
+<td style="background:white;">AdjustToasterOvenTemperature</td>
+<td style="background:white;">26 (+0)</td>
+<td style="background:white;">28 (+2)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">32 (+6)</td>
+<td style="background:#fde4cf;font-weight:700;color:#7a3300;">32 (+6)</td>
+<td style="background:white;">30 (+4)</td>
+<td style="background:white;">26 (+0)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">20 (-6)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">18 (-8)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">18 (-8)</td>
+<td style="background:white;">24 (-2)</td>
+<td style="background:white;">22 (-4)</td>
+<td style="background:#e2eef9;font-weight:700;color:#063b63;">20 (-6)</td>
+<td style="background:#cfe3f7;font-weight:700;color:#063b63;">14 (-12)</td>
+<td style="background:white;">22 (-4)</td>
+<td style="background:white;">30 (+4)</td>
+<td style="background:white;">26 (+0)</td>
+</tr>
+</tbody>
+</table>
+
+## Source Paths
+
+- baseline_120k_v1 (`baseline_120k_v1`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/1. Baseline/baseline_120k_v1/seed42_my_atomic26_nenv10`
+- RKD v2 A (`rkd_v2_A_phase3_30k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10`
+- RKD DA ActionEncoderLP (`mgrkd_v2_1_action_encoder_phase3_30k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/RKDv2.1 APHead LP/RKD DA ActionEncoderLP/seed42_my_atomic26_nenv10`
+- RKD DA RawActionLP (`mgrkd_v2_1_raw_action_phase3_30k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/RKDv2.1 APHead LP/RKD DA RawActionLP/seed42_my_atomic26_nenv10`
+- RKD MeanPool+LP (`RKD_v2.1_DA__Student_MeanPool___LP`): `/home/minje/48server/groot_robocasa/Experiments_v2/RKDv2.1_DA_MeanPool_LP_phase3/seed42_my_atomic26_nenv10`
+- RKD v1 0.1 (`rkd_v1_aux_fixed_0p5_temp0_1_phase3_30k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v1~2/RKD v1 0.1/seed42_my_atomic26_nenv10`
+- RKD v2.1 A (`rkd_v2_1_A_phase3_30k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10`
+- RKD v2.1 DA (`rkd_v2_1_DA_phase3_30k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10`
+- RKD v2.1 DA MoreSteps (`rkd_v2_1_DA_moresteps_200k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/Steps Ablation/RKD v2.1 DA MoreSteps/seed42_my_atomic26_nenv10`
+- MGD 0.3 (`mgd_0_3_phase3_30k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/3. MGD/MGD 0.3/seed42_my_atomic26_nenv10`
+- RKD v2.1 DA MoreP2&3 (`rkd_v2_1_DA_more_p2p3`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/Steps Ablation/RKD v2.1 DA MoreP2&3/seed42_my_atomic26_nenv10`
+- RKD v2.1 A MoreSteps (`rkd_v2_1_A_moresteps_200k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/Steps Ablation/RKD v2.1 A MoreSteps/seed42_my_atomic26_nenv10`
+- rkd_v2_1_DA_full_120k (`rkd_v2_1_DA_full_120k`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/Steps Ablation/RKD v2.1 DA FullSchedule/seed42_my_atomic26_nenv10`
+- RowWiseControlGated KL-DTW (`RKD v2.1 KL-DTW APHead RowWiseControlGatedAdaptiveProbMix`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/RKDv2.1_KL_DTW_APHead_RowWiseControlGatedAdaptiveProbMix_phase3/seed42_my_atomic26_nenv10`
+- mgrkd_kl_flatten_action_encoder (`mgrkd_kl_flatten_action_encoder`): `/home/minje/48server/groot_robocasa/Experiments_v2/MGRKD/mgrkd_kl_flatten_action_encoder_temp0p1_phase3/seed42_my_atomic26_nenv10`
+- ComponentProbMix KL-DTW (`RKD v2.1 KL-DTW APHead ComponentProbMix`): `/home/minje/dgx_h200/groot_robocasa/Experiments_v2/RKDv2.1_KL_DTW_APHead_ComponentProbMix_phase3/seed42_my_atomic26_nenv10`