| # v3-valid eval — fling-excluded, MPC vs pure-VLA (latest code 815ea9c) | |
| Latest vla_ppc (bbox-centre-min distance + completion_frames=2). 50 *valid* | |
| (non-flung) episodes per task for MPC; flung episodes (task object ejected by a | |
| physics glitch, GT speed > 2.0 m/s) are dropped and shown separately. pure-VLA | |
| ran on those same MPC-valid seeds. SmolVLA, max_steps 200, chunk_exec 50. | |
| ## Results (env_success) | |
| | task | MPC v3-valid | pure-VLA (same seeds) | | |
| |---|---|---| | |
| | place_bread_skillet | 25/50 (50%) | 25/46 (54%, 4 flung) | | |
| | move_can_pot | 38/50 (76%) | 41/49 (84%, 1 flung) | | |
| **pure-VLA ≥ MPC on both tasks** — MPC correction does not help (slightly hurts) | |
| these tasks; SmolVLA alone is best. The latest distance/de-bounce code did not | |
| change this. | |
| Layout per task: `mpc/` (poselib + MPC: bread=economicgrasp, canpot=object_center) | |
| and `pure_vla/` (passthrough, no MPC). Each has `videos/` (counted episodes) and | |
| `flung_videos/` (dropped; 15-tick grace so the fling is visible). bread flings | |
| often (~34% of seeds); canpot almost never (~2%). | |