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place_empty_cup MPC vs pure-VLA, both @400 steps (33 vs 34, tied) + comparison videos

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  1. cup400_eval/README.md +22 -0
  2. cup400_eval/comparison/cmp_seed100000_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  3. cup400_eval/comparison/cmp_seed100001_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  4. cup400_eval/comparison/cmp_seed100002_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  5. cup400_eval/comparison/cmp_seed100003_VLA-FAIL_MPC-SUCCESS.mp4 +3 -0
  6. cup400_eval/comparison/cmp_seed100004_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  7. cup400_eval/comparison/cmp_seed100005_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  8. cup400_eval/comparison/cmp_seed100007_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  9. cup400_eval/comparison/cmp_seed100008_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  10. cup400_eval/comparison/cmp_seed100009_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  11. cup400_eval/comparison/cmp_seed100010_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  12. cup400_eval/comparison/cmp_seed100011_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  13. cup400_eval/comparison/cmp_seed100012_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  14. cup400_eval/comparison/cmp_seed100013_VLA-SUCCESS_MPC-FAIL.mp4 +3 -0
  15. cup400_eval/comparison/cmp_seed100014_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  16. cup400_eval/comparison/cmp_seed100015_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  17. cup400_eval/comparison/cmp_seed100016_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  18. cup400_eval/comparison/cmp_seed100017_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  19. cup400_eval/comparison/cmp_seed100018_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  20. cup400_eval/comparison/cmp_seed100019_VLA-SUCCESS_MPC-FAIL.mp4 +3 -0
  21. cup400_eval/comparison/cmp_seed100020_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  22. cup400_eval/comparison/cmp_seed100021_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  23. cup400_eval/comparison/cmp_seed100022_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  24. cup400_eval/comparison/cmp_seed100024_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  25. cup400_eval/comparison/cmp_seed100025_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  26. cup400_eval/comparison/cmp_seed100026_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  27. cup400_eval/comparison/cmp_seed100027_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  28. cup400_eval/comparison/cmp_seed100028_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  29. cup400_eval/comparison/cmp_seed100029_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  30. cup400_eval/comparison/cmp_seed100030_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  31. cup400_eval/comparison/cmp_seed100031_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  32. cup400_eval/comparison/cmp_seed100032_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  33. cup400_eval/comparison/cmp_seed100033_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  34. cup400_eval/comparison/cmp_seed100034_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  35. cup400_eval/comparison/cmp_seed100035_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  36. cup400_eval/comparison/cmp_seed100036_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  37. cup400_eval/comparison/cmp_seed100037_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  38. cup400_eval/comparison/cmp_seed100038_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  39. cup400_eval/comparison/cmp_seed100039_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  40. cup400_eval/comparison/cmp_seed100040_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  41. cup400_eval/comparison/cmp_seed100041_VLA-SUCCESS_MPC-FAIL.mp4 +3 -0
  42. cup400_eval/comparison/cmp_seed100042_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  43. cup400_eval/comparison/cmp_seed100043_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  44. cup400_eval/comparison/cmp_seed100044_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  45. cup400_eval/comparison/cmp_seed100045_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  46. cup400_eval/comparison/cmp_seed100046_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  47. cup400_eval/comparison/cmp_seed100047_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
  48. cup400_eval/comparison/cmp_seed100048_VLA-FAIL_MPC-FAIL.mp4 +3 -0
  49. cup400_eval/comparison/cmp_seed100049_VLA-FAIL_MPC-SUCCESS.mp4 +3 -0
  50. cup400_eval/comparison/cmp_seed100050_VLA-SUCCESS_MPC-SUCCESS.mp4 +3 -0
cup400_eval/README.md ADDED
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+ # place_empty_cup — MPC vs pure-VLA, BOTH at max_steps 400 (apples-to-apples)
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+
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+ Same standard as bread/canpot v3-valid (poselib + object_center MPC,
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+ completion_frames=2, fling detection > 2.0 m/s with 15-tick grace, run-until-
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+ 50-valid with flung seeds dropped & re-drawn). The ONLY difference: here MPC AND
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+ pure-VLA both use max_steps=400, so it's a fully fair comparison on identical
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+ valid seeds.
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+
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+ ## Result (env_success / 50 valid)
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+
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+ | method (both 400 steps) | success | flung |
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+ |---|---|---|
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+ | MPC (object_center + poselib) | 33/50 (66%) | 2 |
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+ | pure-VLA (passthrough) | 34/50 (68%) | 0 |
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+
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+ **Tied (VLA +1).** With equal time budget and identical seeds, MPC correction
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+ gives no benefit on cup — consistent with bread/canpot. For reference, at 200
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+ steps cup was MPC 29/50, VLA 31/50; doubling the horizon lifted both ~+4 but kept
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+ them tied.
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+
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+ `comparison/cmp_seed<seed>_VLA-<r>_MPC-<r>.mp4`: LEFT=VLA, MIDDLE=MPC,
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+ RIGHT=MPC constraints; labels green=SUCCESS / red otherwise.
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