{ "pair": "diff_seed", "models": [ { "checkpoint": "/vepfs-mlp2/c20250508/242303041/caiyi/Structured-4D-Model/outputs/iterative_image_diff_seed_1to16/20260928-022436/7pct/seed_42/checkpoints/14000.ckpt", "kind": "image", "backend": "unet", "training_seed": 42, "horizon": 64, "weights": "model", "checked_stat_files": [ "/vepfs-mlp2/c20250508/242303041/caiyi/Structured-4D-Model/outputs/iterative_image_diff_seed_1to16/20260928-022436/7pct/seed_42/StackCube-v1_image_data_stat.json" ], "inference_passes": 1 }, { "checkpoint": "/vepfs-mlp2/c20250508/242303041/caiyi/Structured-4D-Model/outputs/iterative_image_diff_seed_1to16/20260928-022436/7pct/seed_43/checkpoints/14000.ckpt", "kind": "image", "backend": "unet", "training_seed": 43, "horizon": 64, "weights": "model", "checked_stat_files": [ "/vepfs-mlp2/c20250508/242303041/caiyi/Structured-4D-Model/outputs/iterative_image_diff_seed_1to16/20260928-022436/7pct/seed_43/StackCube-v1_image_data_stat.json" ], "inference_passes": 1 } ], "arguments": { "pair": "diff_seed", "checkpoint_a": "/vepfs-mlp2/c20250508/242303041/caiyi/Structured-4D-Model/outputs/iterative_image_diff_seed_1to16/20260928-022436/7pct/seed_42/checkpoints/14000.ckpt", "checkpoint_b": "/vepfs-mlp2/c20250508/242303041/caiyi/Structured-4D-Model/outputs/iterative_image_diff_seed_1to16/20260928-022436/7pct/seed_43/checkpoints/14000.ckpt", "image_h5": "/vepfs-mlp2/c20250508/242303041/caiyi/Structured-4D-Model/render/image_idm_four_checkpoints_200/full/rollout_recon_rgb_224.h5", "pointcloud_h5": "/vepfs-mlp2/c20250508/242303041/caiyi/Structured-4D-Model/render/image_idm_four_checkpoints_200/full/rollout_pointclouds.h5", "output_dir": "outputs/rollout200_correlation_new_pair/diff_seed", "obs_gap": 64, "compare_steps": 32, "step_stride": 32, "batch_size": 8, "seeds": [ 42 ], "device": "cuda:0" }, "num_chunks": 739, "num_trajectories": 200, "metrics": { "arm": { "means": { "disagreement": 0.0005110082774893017, "error_a": 0.0015615346796819813, "error_b": 0.0013162845208851365, "mean_error": 0.0014389096002835591 }, "correlations": { "error_a": { "chunk": { "n": 739, "pearson": 0.23542427610134747, "spearman": 0.3473395637295436 }, "trajectory": { "n": 200, "pearson": 0.07576466847669316, "spearman": 0.242137553438836 } }, "error_b": { "chunk": { "n": 739, "pearson": 0.2147787625057661, "spearman": 0.3209700971310266 }, "trajectory": { "n": 200, "pearson": 0.13779001753878045, "spearman": 0.23213830345758646 } }, "mean_error": { "chunk": { "n": 739, "pearson": 0.23391033523067586, "spearman": 0.4026476061856768 }, "trajectory": { "n": 200, "pearson": 0.11032725153203346, "spearman": 0.3485847146178655 } } } }, "gripper": { "means": { "disagreement": 0.21740834481415425, "error_a": 0.6728408226527905, "error_b": 0.693212512155207, "mean_error": 0.6830266674039988 }, "correlations": { "error_a": { "chunk": { "n": 739, "pearson": 0.12845551455251783, "spearman": 0.2957166655326608 }, "trajectory": { "n": 200, "pearson": 0.2439457132653402, "spearman": 0.28794269856746424 } }, "error_b": { "chunk": { "n": 739, "pearson": 0.2334855678562151, "spearman": 0.3996873912361575 }, "trajectory": { "n": 200, "pearson": 0.3533019175580762, "spearman": 0.36611415285382143 } }, "mean_error": { "chunk": { "n": 739, "pearson": 0.1872857687022101, "spearman": 0.4451640170837177 }, "trajectory": { "n": 200, "pearson": 0.30746580742399815, "spearman": 0.3900187504687618 } } } }, "overall": { "means": { "disagreement": 0.02762317534457242, "error_a": 0.08547144567632055, "error_b": 0.08780331297517537, "mean_error": 0.08663737932574794 }, "correlations": { "error_a": { "chunk": { "n": 739, "pearson": 0.12520100494304187, "spearman": 0.08208141142231376 }, "trajectory": { "n": 200, "pearson": 0.23710443712135543, "spearman": 0.27073426835670894 } }, "error_b": { "chunk": { "n": 739, "pearson": 0.2304800738523941, "spearman": 0.13174933076910042 }, "trajectory": { "n": 200, "pearson": 0.3467749122732793, "spearman": 0.3421120528013201 } }, "mean_error": { "chunk": { "n": 739, "pearson": 0.18409170607904385, "spearman": 0.20032796253793647 }, "trajectory": { "n": 200, "pearson": 0.3006881885689036, "spearman": 0.3650686267156679 } } } } }, "per_seed": [ { "seed": 42, "metrics": { "arm": { "means": { "disagreement": 0.0005110082774893017, "error_a": 0.0015615346796819813, "error_b": 0.0013162845208851365, "mean_error": 0.0014389096002835591 }, "correlations": { "error_a": { "chunk": { "n": 739, "pearson": 0.23542427610134747, "spearman": 0.3473395637295436 }, "trajectory": { "n": 200, "pearson": 0.07576466847669316, "spearman": 0.242137553438836 } }, "error_b": { "chunk": { "n": 739, "pearson": 0.2147787625057661, "spearman": 0.3209700971310266 }, "trajectory": { "n": 200, "pearson": 0.13779001753878045, "spearman": 0.23213830345758646 } }, "mean_error": { "chunk": { "n": 739, "pearson": 0.23391033523067586, "spearman": 0.4026476061856768 }, "trajectory": { "n": 200, "pearson": 0.11032725153203346, "spearman": 0.3485847146178655 } } } }, "gripper": { "means": { "disagreement": 0.21740834481415425, "error_a": 0.6728408226527905, "error_b": 0.693212512155207, "mean_error": 0.6830266674039988 }, "correlations": { "error_a": { "chunk": { "n": 739, "pearson": 0.12845551455251783, "spearman": 0.2957166655326608 }, "trajectory": { "n": 200, "pearson": 0.2439457132653402, "spearman": 0.28794269856746424 } }, "error_b": { "chunk": { "n": 739, "pearson": 0.2334855678562151, "spearman": 0.3996873912361575 }, "trajectory": { "n": 200, "pearson": 0.3533019175580762, "spearman": 0.36611415285382143 } }, "mean_error": { "chunk": { "n": 739, "pearson": 0.1872857687022101, "spearman": 0.4451640170837177 }, "trajectory": { "n": 200, "pearson": 0.30746580742399815, "spearman": 0.3900187504687618 } } } }, "overall": { "means": { "disagreement": 0.02762317534457242, "error_a": 0.08547144567632055, "error_b": 0.08780331297517537, "mean_error": 0.08663737932574794 }, "correlations": { "error_a": { "chunk": { "n": 739, "pearson": 0.12520100494304187, "spearman": 0.08208141142231376 }, "trajectory": { "n": 200, "pearson": 0.23710443712135543, "spearman": 0.27073426835670894 } }, "error_b": { "chunk": { "n": 739, "pearson": 0.2304800738523941, "spearman": 0.13174933076910042 }, "trajectory": { "n": 200, "pearson": 0.3467749122732793, "spearman": 0.3421120528013201 } }, "mean_error": { "chunk": { "n": 739, "pearson": 0.18409170607904385, "spearman": 0.20032796253793647 }, "trajectory": { "n": 200, "pearson": 0.3006881885689036, "spearman": 0.3650686267156679 } } } } } } ], "protocol": { "action_space": "normalized abs_joint; shared StackCube DATA_STAT", "target": "executed rollout actions, not expert optimal actions", "observations": "stored real start/end observations; not online WM target images", "rng": "idm-rollout-chunk-v1; same root/trajectory/step/modality streams across checkpoints; shared image noise for diff_seed", "sampling": "mean scalar MSE/disagreement across inference seeds; ACT zero latent evaluated once", "trajectory": "equal mean of chunk metrics within each trajectory", "selection": "fixed user checkpoints; no fitting or checkpoint selection on this rollout set", "caveat": "chunks within a trajectory are dependent; only 20 trajectory samples" } }