| # MPC failures re-run at max_steps 400 (were FAIL at 200) |
| |
| Took every seed where MPC failed (env_success=False) at max_steps=200 and re-ran |
| it at max_steps=400 — to separate "ran out of time" from "genuinely can't do it". |
| Same v3-valid config per task (poselib + MPC; bread=economicgrasp, |
| canpot=object_center; completion_frames=2; fling detection on). |
|
|
| | task | failed @200 | recovered @400 | still FAIL | flung @400 | timeout | |
| |---|---|---|---|---|---| |
| | move_can_pot | 12 | **1** (8%) | 10 | 0 | 1 | |
| | place_bread_skillet | 25 | **8** (32%) | 6 | 10 | 1 | |
|
|
| ## Takeaways |
| - **canpot**: doubling the horizon barely helps (1/12). The MPC failures are |
| genuine grasp/place-capability failures, not a step-budget issue. |
| - **bread**: ~1/3 recover with more time, but the extra horizon also lets the VLA |
| fling the bread far more (10/25 = 40%), offsetting much of the gain. |
| - Overall: 200 steps is essentially enough for these two tasks; the bottleneck is |
| policy capability (grasp / place / not ejecting the object), not time. |
|
|
| Each task folder: `videos/` (re-run episodes), `flung_videos/` (ejected; 15-tick |
| grace), `results.tsv`, `failed_at_200_seeds.txt` (the input seeds). |
|
|
