Reveal Proxy Benchmark

spatial_phase

checkpoint: /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt
benchmark_mode: smoke
episodes: 30.000
chunk_commit_steps: 4.000
mean_success: 0.522
visibility_integral: 18.450
corridor_availability: 0.660
reocclusion_rate: 0.010
persistence_horizon_mae: 2.146
disturbance_cost: 0.238
success_ci_low: 0.433
success_ci_high: 0.622
foliage_proxy_success: 0.567
bag_proxy_success: 0.467
cloth_proxy_success: 0.533