diff --git a/cup400_eval/README.md b/cup400_eval/README.md new file mode 100644 index 0000000000000000000000000000000000000000..ed7a4492082aa36edba30328c3c808aa777e5ee1 --- /dev/null +++ b/cup400_eval/README.md @@ -0,0 +1,22 @@ +# place_empty_cup — MPC vs pure-VLA, BOTH at max_steps 400 (apples-to-apples) + +Same standard as bread/canpot v3-valid (poselib + object_center MPC, +completion_frames=2, fling detection > 2.0 m/s with 15-tick grace, run-until- +50-valid with flung seeds dropped & re-drawn). The ONLY difference: here MPC AND +pure-VLA both use max_steps=400, so it's a fully fair comparison on identical +valid seeds. + +## Result (env_success / 50 valid) + +| method (both 400 steps) | success | flung | +|---|---|---| +| MPC (object_center + poselib) | 33/50 (66%) | 2 | +| pure-VLA (passthrough) | 34/50 (68%) | 0 | + +**Tied (VLA +1).** With equal time budget and identical seeds, MPC correction +gives no benefit on cup — consistent with bread/canpot. For reference, at 200 +steps cup was MPC 29/50, VLA 31/50; doubling the horizon lifted both ~+4 but kept +them tied. + +`comparison/cmp_seed_VLA-_MPC-.mp4`: LEFT=VLA, MIDDLE=MPC, +RIGHT=MPC constraints; labels green=SUCCESS / red otherwise. diff --git a/cup400_eval/comparison/cmp_seed100000_VLA-FAIL_MPC-FAIL.mp4 b/cup400_eval/comparison/cmp_seed100000_VLA-FAIL_MPC-FAIL.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..25ff181be5ba5da65af39c90aef067d3276dd612 --- /dev/null +++ b/cup400_eval/comparison/cmp_seed100000_VLA-FAIL_MPC-FAIL.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35bd982e22fad90bed81f90f99e18c30fc14ce753ddad222f510da7e44d17787 +size 7927339 diff --git a/cup400_eval/comparison/cmp_seed100001_VLA-SUCCESS_MPC-SUCCESS.mp4 b/cup400_eval/comparison/cmp_seed100001_VLA-SUCCESS_MPC-SUCCESS.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..265d166ac0821de4c3263500eaafb24bf63393b3 --- /dev/null +++ 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