Add NewModel v2 evaluation and deployment evidence

NewModel/v2/evaluation/SUMMARY_CN.md

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+# 全视觉 Token FM 与 Joint-DD 结果
+
+## 实验协议
+
+- 共 16 个检查点：DiT-S/B × raw/B-spline × FM/joint DD × base/ttRTC。
+- 每个观测保留两个完整的 16×16 patch 网格，即 **512 个视觉 token**，并追加 1 个状态 token。
+- 基础训练 50,000 次更新，ttRTC 训练 5,000 次更新，有效 batch size 为 32。
+- `validation/action_mse` 来自从零开始的完整生成。采样器只接收视觉与状态，不接收目标动作、被扰动的真值或教师辅助信息。
+- 后续评测包含完整测试集开环生成、延迟 RTC、oracle-prefix inference RTC 和 batch-1 同步延迟。
+- 在每个 DiT 尺寸内，raw 与 B-spline 的 RTCEVAL 指标图共享同一组对数物理 MSE 纵轴范围；全部轨迹图按动作维度共享完整数据集的物理最小值/最大值。
+
+## 主要结果
+
+- 最佳物理 MSE 为 **0.008187**（DiT-B / raw / fm / ttrtc）。
+- 在严格配对中，B-spline 有 5/8 组更优；物理 MSE 降幅中位数为 13.33%。
+- ttRTC 在零延迟开环对比中有 6/8 组更优；降幅中位数为 0.55%。
+- Joint cache 融合解码在 8/8 个检查点上逐 token 一致。
+- FM 在 1,000 次 warm-up 更新之后共拒绝了 5625 次异常优化器更新；每次被拒绝的更新及其裁剪前梯度范数都完整保留在记录中。
+- DiT-S、DiT-B 的部署验证均通过全部 8 个运行时用例；每份审计都清点全部 16 个检查点，并从两路各 256-token 的相机输入生成有限的 30×7 动作。
+
+## 证据
+
+- `completion_audit.json`：检查点身份、精确更新数、哈希、父模型谱系、有限梯度、从零验证、四类评测以及本地/远端 W&B 状态。
+- `summary/deployment_validation_dit_{s,b}.json`：对全部 raw/B-spline × FM/joint-DD × base/ttRTC 组合执行真实 GPU 加载与推理。
+- `summary/checkpoint_metrics.csv`：完整 16 行指标；`ranking_by_physical_mse.csv` 与 `pairwise_effects.csv`：排名和严格配对效应。
+- 这些结果属于开环动作生成诊断，不代表闭环任务成功率。
+
+## 全部检查点
+
+| size | repr. | policy | stage | val gen MSE | test physical MSE | p50 ms | W&B |
+|---|---|---|---|---|---|---|---|
+| DiT-S | raw | fm | base | 0.007611 | 0.010827 | 25.61 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7) |
+| DiT-S | raw | fm | ttrtc | 0.008254 | 0.008333 | 15.39 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l) |
+| DiT-S | raw | discrete_joint | base | 0.026301 | 0.023261 | 150.83 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13) |
+| DiT-S | raw | discrete_joint | ttrtc | 0.025776 | 0.022973 | 156.25 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw) |
+| DiT-S | bspline | fm | base | 0.008366 | 0.008506 | 24.01 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/k2plilzb) |
+| DiT-S | bspline | fm | ttrtc | 0.008092 | 0.008409 | 24.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zxp7uffq) |
+| DiT-S | bspline | discrete_joint | base | 0.024129 | 0.019029 | 80.88 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/ivclz1i6) |
+| DiT-S | bspline | discrete_joint | ttrtc | 0.025541 | 0.019057 | 84.87 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/efg4vkqh) |
+| DiT-B | raw | fm | base | 0.006808 | 0.008203 | 68.15 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/mz36ylrg) |
+| DiT-B | raw | fm | ttrtc | 0.007001 | 0.008187 | 68.32 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zip5w0in) |
+| DiT-B | raw | discrete_joint | base | 0.015395 | 0.019526 | 298.37 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/c7mgy7f0) |
+| DiT-B | raw | discrete_joint | ttrtc | 0.017608 | 0.020072 | 295.84 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/26qllqsn) |
+| DiT-B | bspline | fm | base | 0.007076 | 0.008330 | 37.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/f581nhyj) |
+| DiT-B | bspline | fm | ttrtc | 0.006578 | 0.008320 | 37.38 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/wo8veppb) |
+| DiT-B | bspline | discrete_joint | base | 0.025449 | 0.017233 | 167.97 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/lwoiqslq) |
+| DiT-B | bspline | discrete_joint | ttrtc | 0.026583 | 0.017078 | 163.03 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/680zgije) |

NewModel/v2/evaluation/SUMMARY_EN.md

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+# Full-Vision FM and Joint-DD Results
+
+## Protocol
+
+- 16 checkpoints: DiT-S/B × raw/B-spline × FM/joint DD × base/ttRTC.
+- Every observation contains two complete 16×16 patch grids: **512 vision tokens**, plus one state token.
+- Base training uses 50,000 updates; ttRTC uses 5,000 updates; effective batch size is 32.
+- `validation/action_mse` is decoded generation from scratch. The sampler receives only vision and state; it never receives target actions, corrupted ground truth, or teacher assistance.
+- Evaluation includes full held-out open-loop generation, delay RTC, oracle-prefix inference RTC, and synchronized batch-1 latency.
+- Within each DiT size, raw and B-spline RTCEVAL metric plots share one log physical-MSE y-axis; all trajectory plots share the same full-dataset physical min/max for each action dimension.
+
+## Findings
+
+- Best decoded physical MSE: **0.008187** (DiT-B / raw / fm / ttrtc).
+- B-spline wins 5/8 matched comparisons; median physical-MSE reduction is 13.33%.
+- ttRTC wins 6/8 matching zero-delay open-loop comparisons; median reduction is 0.55%.
+- Joint cached/fused decoding is token-identical in 8/8 checkpoints.
+- FM rejected 5625 anomalous optimizer updates after the 1,000-update warm-up; every rejected step remains recorded with its pre-clip norm.
+- Deployment validation passes all 8 runtime cases for each of DiT-S and DiT-B; each audit inventories all 16 checkpoints and produces finite 30×7 actions from two 256-token camera streams.
+
+## Evidence
+
+- `completion_audit.json`: checkpoint identity, exact update counts, hashes, parent lineage, finite gradients, from-scratch validation, all four evaluation families, and local/remote W&B state.
+- `summary/deployment_validation_dit_{s,b}.json`: real-GPU load and inference for every raw/B-spline × FM/joint-DD × base/ttRTC case.
+- `summary/checkpoint_metrics.csv`: complete 16-row metric table; `ranking_by_physical_mse.csv` and `pairwise_effects.csv`: rankings and matched effects.
+- Results are open-loop action-generation diagnostics, not closed-loop task-success measurements.
+
+## All checkpoints
+
+| size | repr. | policy | stage | val gen MSE | test physical MSE | p50 ms | W&B |
+|---|---|---|---|---|---|---|---|
+| DiT-S | raw | fm | base | 0.007611 | 0.010827 | 25.61 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7) |
+| DiT-S | raw | fm | ttrtc | 0.008254 | 0.008333 | 15.39 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l) |
+| DiT-S | raw | discrete_joint | base | 0.026301 | 0.023261 | 150.83 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13) |
+| DiT-S | raw | discrete_joint | ttrtc | 0.025776 | 0.022973 | 156.25 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw) |
+| DiT-S | bspline | fm | base | 0.008366 | 0.008506 | 24.01 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/k2plilzb) |
+| DiT-S | bspline | fm | ttrtc | 0.008092 | 0.008409 | 24.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zxp7uffq) |
+| DiT-S | bspline | discrete_joint | base | 0.024129 | 0.019029 | 80.88 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/ivclz1i6) |
+| DiT-S | bspline | discrete_joint | ttrtc | 0.025541 | 0.019057 | 84.87 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/efg4vkqh) |
+| DiT-B | raw | fm | base | 0.006808 | 0.008203 | 68.15 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/mz36ylrg) |
+| DiT-B | raw | fm | ttrtc | 0.007001 | 0.008187 | 68.32 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zip5w0in) |
+| DiT-B | raw | discrete_joint | base | 0.015395 | 0.019526 | 298.37 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/c7mgy7f0) |
+| DiT-B | raw | discrete_joint | ttrtc | 0.017608 | 0.020072 | 295.84 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/26qllqsn) |
+| DiT-B | bspline | fm | base | 0.007076 | 0.008330 | 37.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/f581nhyj) |
+| DiT-B | bspline | fm | ttrtc | 0.006578 | 0.008320 | 37.38 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/wo8veppb) |
+| DiT-B | bspline | discrete_joint | base | 0.025449 | 0.017233 | 167.97 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/lwoiqslq) |
+| DiT-B | bspline | discrete_joint | ttrtc | 0.026583 | 0.017078 | 163.03 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/680zgije) |

NewModel/v2/evaluation/checkpoint_metrics.csv

@@ -0,0 +1,17 @@
+model_size,representation,architecture,stage,vision_tokens,parameters,learning_rate,fm_math_sdp_training,final_train_action_mse_normalized,final_validation_generation_action_mse_normalized,best_validation_generation_action_mse_normalized,max_gradient_norm_before_clip,max_applied_gradient_norm_before_clip,skipped_optimizer_updates,test_decoded_normalized_mse,test_decoded_physical_mse,test_decoded_physical_mae,token_accuracy,sampling_p50_ms,sampling_p95_ms,online_vision_p50_ms,projector_state_p50_ms,action_decode_p50_ms,estimated_online_pipeline_p50_ms,peak_memory_bytes,delay_mean_physical_mse_d0_d10,inference_rtc_suffix_physical_mse_prefix6,inference_rtc_fixed_control_max_abs,checkpoint,wandb_url,joint_legacy_vs_fused_tokens_equal,joint_fused_cache_speedup_percent
+DiT-S,raw,fm,base,512,15165063,0.0003,,0.0029405311215668917,0.007611372508108616,0.005651242798194289,11235.0625,5.432596206665039,5621,0.03278413414955139,0.010827033780515194,0.055057987570762634,,25.609177071601152,25.764709000941366,27.449054992757738,0.14400435611605644,0.003600027412176132,53.20583644788712,3053801472,0.007927644659172405,0.013020421535657078,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/fm_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7,,
+DiT-S,raw,fm,ttrtc,512,15165063,3e-05,True,0.0007620042306371033,0.008253987645730376,0.006683151121251285,398.94580078125,99.63603973388672,4,0.027002356946468353,0.008332785218954086,0.04041185602545738,,15.390869113616645,25.665894977282733,25.25046339724213,0.40322355926036835,0.003590015694499016,41.04814608581364,3053801472,0.005657459101216359,0.009288144333368109,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/fm_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l,,
+DiT-S,raw,discrete_joint,base,512,13942656,0.0003,,0.0007439546170644462,0.02630086609860882,0.013556113612139598,7461.29443359375,7461.29443359375,0,0.07251627743244171,0.023261087015271187,0.0755176916718483,0.18200800229079117,150.8286549942568,151.68091267114505,10.725893080234528,0.1287864288315177,0.0034598633646965027,161.68679436668754,3051280896,0.011941417459059845,0.017662497690366763,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/discrete_joint_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13,True,8.363530319450563
+DiT-S,raw,discrete_joint,ttrtc,512,13942656,3e-05,,0.0004794036503881216,0.025776462396606803,0.02080110472161323,48.994590759277344,48.994590759277344,0,0.07025458663702011,0.022972840815782547,0.07533711194992065,0.1791940439429469,156.2460963614285,160.97858464345336,10.733626433648169,0.1282829325646162,0.003439956344664097,167.11144568398595,3051280896,0.010807831941003149,0.01530362739461566,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw,True,7.740423876761667
+DiT-S,bspline,fm,base,512,15160455,0.0003,,0.0006228908896446228,0.008366058871615678,0.005902783130295575,6.161744594573975,6.161744594573975,0,0.027469003573060036,0.008506258949637413,0.04074931889772415,,24.01013404596597,25.717089080717415,27.250776533037424,0.28072413988411427,0.01983006950467825,51.561464788392186,3053785600,0.005641686687753959,0.008803958047394644,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/bspline/checkpoints/fm_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/k2plilzb,,
+DiT-S,bspline,fm,ttrtc,512,15160455,3e-05,True,0.0004820008762180805,0.008091769937891513,0.007013549969997257,0.6310064792633057,0.6310064792633057,0,0.027157114818692207,0.0084086824208498,0.04040170833468437,,24.30937287863344,25.741084828041494,24.77691601961851,0.2569190692156553,0.02013507764786482,49.36334304511547,3053785600,0.005479531997645443,0.008618163224610953,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/bspline/checkpoints/fm_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zxp7uffq,,
+DiT-S,bspline,discrete_joint,base,512,13910400,0.0003,,0.0013128224527463317,0.02412884496152401,0.01717015798203647,3074.87841796875,3074.87841796875,0,0.05861420929431915,0.019028501585125923,0.07036647200584412,0.1753151984432643,80.877153435722,87.6373715349473,11.08929340261966,0.1303039025515318,0.019719824194908142,92.1164705650881,3051154432,0.01347603081640872,0.017577628444996662,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/bspline/checkpoints/discrete_joint_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/ivclz1i6,True,6.691455073653973
+DiT-S,bspline,discrete_joint,ttrtc,512,13910400,3e-05,,0.00011480167449917644,0.025541410315781832,0.02051464607939124,62.698822021484375,62.698822021484375,0,0.059065911918878555,0.019057000055909157,0.07034346461296082,0.17397448297030735,84.86827090382576,85.36308950278908,11.284883017651737,0.13270450290292501,0.020339153707027435,96.30619757808745,3051154432,0.013499831780791283,0.018142815937608248,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/bspline/checkpoints/discrete_joint_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/efg4vkqh,True,7.796437714515729
+DiT-B,raw,fm,base,512,108242439,0.0003,,0.0004059684288222343,0.006807636236771941,0.005977545399218798,13.146452903747559,13.146452903747559,0,0.026299310848116875,0.008203062228858471,0.039421819150447845,,68.14560305792838,79.15673250099644,24.284930434077978,0.3838934935629368,0.003590015694499016,92.8180170012638,3430297088,0.005990955047309399,0.009612870682104813,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/raw/checkpoints/fm_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/mz36ylrg,,
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NewModel/v2/evaluation/decoder_validation/decode_validation.json

@@ -0,0 +1,123 @@
+{
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+  "figures": [
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+    "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/summary/decoder_validation/bspline_decode_example.png"
+  ]
+}

NewModel/v2/evaluation/deployment/piper_dataset_statistics.json

@@ -0,0 +1,66 @@
+{
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+}

NewModel/v2/evaluation/deployment/rtc_websocket_validation.json

@@ -0,0 +1,38 @@
+{
+  "date_utc": "2026-09-18",
+  "transport": "msgpack over localhost WebSocket using PolicyClient and WebsocketPolicyServer",
+  "tests": [
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+    {
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+  "stateless_server": true,
+  "read_only_transport_arrays_copied_before_torch": true,
+  "passed": true
+}

NewModel/v2/evaluation/deployment/stacking_cups_start_statistics.json

@@ -0,0 +1,39 @@
+{
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+}

NewModel/v2/evaluation/deployment_validation_dit_b.json

@@ -0,0 +1,347 @@
+{
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NewModel/v2/evaluation/deployment_validation_dit_s.json

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NewModel/v2/evaluation/inference_rtc/summary.csv

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+model_size,vision_tokens,representation,architecture,stage,samples,primary_prefix,suffix_physical_mse,suffix_physical_mae,suffix_normalized_mse,fixed_control_max_abs,sampling_ms_per_sample
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+DiT-S,512,bspline,discrete_joint,ttrtc,64,6,0.018142815937608248,0.06935459692613222,0.05584461829857901,0.0,7.536525485193124
+DiT-B,512,raw,fm,base,64,6,0.009612870682104813,0.04411813328624703,0.033973596585155974,0.0,11.067128500144463
+DiT-B,512,raw,fm,ttrtc,64,6,0.009663080088131437,0.04405870701884851,0.034416455583141214,0.0,11.05818062205799
+DiT-B,512,raw,discrete_joint,base,64,6,0.015287991371451426,0.06518498511286452,0.04532306897544913,0.0,42.52418693431537
+DiT-B,512,raw,discrete_joint,ttrtc,64,6,0.019207077830287744,0.06907228501950158,0.05422244324222447,0.0,42.09923589223763
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+DiT-B,512,bspline,fm,ttrtc,64,6,0.007804068618611382,0.039616245456272736,0.026379084724567292,0.0,10.225517169601517
+DiT-B,512,bspline,discrete_joint,base,64,6,0.01368504150195804,0.058359355229185894,0.03720262567367172,0.0,27.448079359601252
+DiT-B,512,bspline,discrete_joint,ttrtc,64,6,0.012920363951707259,0.05890360943158157,0.03667343687993707,0.0,27.479484317154856

NewModel/v2/evaluation/pairwise_effects.csv

@@ -0,0 +1,17 @@
+comparison,model_size,architecture,stage,representation,physical_mse_reduction_percent,latency_reduction_percent
+bspline_vs_raw,DiT-S,fm,base,bspline,21.435001293284493,6.244023465355369
+bspline_vs_raw,DiT-S,fm,ttrtc,bspline,-0.9108263311896603,-57.94671957236252
+bspline_vs_raw,DiT-S,discrete_joint,base,bspline,18.195991560353647,46.37812460848264
+bspline_vs_raw,DiT-S,discrete_joint,ttrtc,bspline,17.04552254235433,45.68294960310019
+bspline_vs_raw,DiT-B,fm,base,bspline,-1.5492330753586723,45.256239933727784
+bspline_vs_raw,DiT-B,fm,ttrtc,bspline,-1.6280692318202084,45.28979740926167
+bspline_vs_raw,DiT-B,discrete_joint,base,bspline,11.744327315615578,43.70495022648826
+bspline_vs_raw,DiT-B,discrete_joint,ttrtc,bspline,14.915153604002143,44.89281947477516
+ttrtc_vs_base,DiT-S,fm,ttrtc,raw,23.03722895969778,39.90096178965438
+ttrtc_vs_base,DiT-S,discrete_joint,ttrtc,raw,1.2391776846000477,-3.591785239600518
+ttrtc_vs_base,DiT-S,fm,ttrtc,bspline,1.1471144878768615,-1.2463022159501278
+ttrtc_vs_base,DiT-S,discrete_joint,ttrtc,bspline,-0.14976728806387016,-4.934789737964444
+ttrtc_vs_base,DiT-B,fm,ttrtc,raw,0.20004607190464183,-0.24870992183042975
+ttrtc_vs_base,DiT-B,discrete_joint,ttrtc,raw,-2.7929101509065495,0.8472282770111171
+ttrtc_vs_base,DiT-B,fm,ttrtc,bspline,0.12256794090890338,-0.1872582855812306
+ttrtc_vs_base,DiT-B,discrete_joint,ttrtc,bspline,0.9002061310559442,2.9394287260027876

NewModel/v2/evaluation/ranking_by_physical_mse.csv

@@ -0,0 +1,17 @@
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NewModel/v2/evaluation/summary.json

@@ -0,0 +1,1559 @@
+{
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+    "vision_tokens": 512,
+    "tokens_per_camera": 256,
+    "training": "50,000 base + 5,000 ttRTC updates, effective batch 32",
+    "validation": "from-scratch generation using vision+state only; fixed 128 validation examples per checkpoint",
+    "evaluation": "open-loop full test, delay RTC, oracle-prefix inference RTC, batch-1 latency",
+    "rtceval_plot_axes": "shared log physical-MSE limits per DiT size across raw/B-spline and shared full-dataset physical trajectory min/max"
+  },
+  "findings": {
+    "best": {
+      "model_size": "DiT-B",
+      "representation": "raw",
+      "architecture": "fm",
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+      "test_decoded_physical_mse": 0.008186652325093746,
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+    "ttrtc_wins": 6,
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+    "joint_cache_exact": 8,
+    "joint_cache_comparisons": 8,
+    "fm_skipped_optimizer_updates": 5625
+  },
+  "completion_audit": {
+    "status": "passed",
+    "checkpoint_count": 16,
+    "expected_checkpoint_count": 16,
+    "active_architectures": [
+      "fm",
+      "discrete_joint"
+    ],
+    "vision": {
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+      "frames": 31706,
+      "tokens_per_camera": 256,
+      "camera_count": 2,
+      "vision_tokens": 512,
+      "bytes": 70648076800
+    },
+    "validation_contract": "unconditional generation from noise/MASK using vision+state only"
+  },
+  "deployment_validation": {
+    "dit_s": {
+      "scope": "all checkpoint headers plus real GPU runtime matrix for one active model-size family",
+      "sweep_root": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512",
+      "checkpoint_inventory_count": 16,
+      "inventory_sizes": [
+        "dit_s",
+        "dit_b"
+      ],
+      "inventory": [
+        {
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+          "architecture": "discrete_joint",
+          "training_type": "base",
+          "is_rtc": false,
+          "model_size": "DiT-B",
+          "representation": "bspline",
+          "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/cache/bspline"
+        },
+        {
+          "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt",
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+    }
+  ]
+}

NewModel/v2/evaluation/wandb_evaluation.json

@@ -0,0 +1,7 @@
+{
+  "entity": "401910710-university-of-california-berkeley",
+  "project": "robot-policy-full-vision-512-evaluation",
+  "run_id": "wt2pf4rp",
+  "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-evaluation/runs/wt2pf4rp",
+  "state": "finished"
+}