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artifacts/outputs/reveal_runs/reveal_eval_v4/reveal_benchmark.json

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+{
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+      "cloth_proxy": 0.0
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artifacts/outputs/reveal_runs/reveal_eval_v4/reveal_benchmark.md

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+# Reveal Proxy Benchmark
+
+## backbone
+- checkpoint: /workspace/outputs/reveal_runs/proxy_backbone_only/checkpoint_best.pt
+- mean_success: 0.000
+- visibility_integral: 62.805
+- corridor_availability: 0.986
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.889
+- foliage_proxy_success: 0.000
+- bag_proxy_success: 0.000
+- cloth_proxy_success: 0.000
+
+## reveal
+- checkpoint: /workspace/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt
+- mean_success: 0.292
+- visibility_integral: 46.686
+- corridor_availability: 0.920
+- reocclusion_rate: 0.029
+- persistence_horizon_mae: 2.410
+- disturbance_cost: 0.709
+- foliage_proxy_success: 0.250
+- bag_proxy_success: 0.208
+- cloth_proxy_success: 0.417

artifacts/outputs/reveal_runs/reveal_eval_v4_clip_det/reveal_benchmark.json

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+{
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+      "cloth_proxy": 0.5416666666666666
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+}

artifacts/outputs/reveal_runs/reveal_eval_v4_clip_det/reveal_benchmark.md

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+# Reveal Proxy Benchmark
+
+## backbone
+- checkpoint: /workspace/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt
+- mean_success: 0.514
+- visibility_integral: 32.182
+- corridor_availability: 0.859
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.499
+- foliage_proxy_success: 0.458
+- bag_proxy_success: 0.542
+- cloth_proxy_success: 0.542
+
+## reveal
+- checkpoint: /workspace/outputs/reveal_runs/proxy_reveal_state_clip/checkpoint_best.pt
+- mean_success: 0.403
+- visibility_integral: 38.406
+- corridor_availability: 0.885
+- reocclusion_rate: 0.003
+- persistence_horizon_mae: 0.963
+- disturbance_cost: 0.596
+- foliage_proxy_success: 0.375
+- bag_proxy_success: 0.458
+- cloth_proxy_success: 0.375

artifacts/outputs/reveal_runs/reveal_eval_v4_det/reveal_benchmark.json

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+{
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+      "bag_proxy": 0.0,
+      "cloth_proxy": 0.0
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+    "corridor_availability": 0.9864540547132492,
+    "reocclusion_rate": 0.0,
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+      "bag_proxy": 0.0,
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+}

artifacts/outputs/reveal_runs/reveal_eval_v4_det/reveal_benchmark.md

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+# Reveal Proxy Benchmark
+
+## backbone
+- checkpoint: /workspace/outputs/reveal_runs/proxy_backbone_only/checkpoint_best.pt
+- mean_success: 0.000
+- visibility_integral: 62.805
+- corridor_availability: 0.986
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.889
+- foliage_proxy_success: 0.000
+- bag_proxy_success: 0.000
+- cloth_proxy_success: 0.000
+
+## reveal
+- checkpoint: /workspace/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt
+- mean_success: 0.000
+- visibility_integral: 62.735
+- corridor_availability: 0.986
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 2.420
+- disturbance_cost: 0.893
+- foliage_proxy_success: 0.000
+- bag_proxy_success: 0.000
+- cloth_proxy_success: 0.000

artifacts/outputs/smoke/proxy_backbone_only_smoke/checkpoint_best.pt

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artifacts/outputs/smoke/proxy_reveal_state_smoke/checkpoint_best.pt

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