Upload Piper adaptive B-spline open_loop_comparison_vs_uniform_50k.json

models/piper-pick-white-block-25hz-qwenpi-v3-adaptive-left-exclude-gripper-native-controls13-gb32-50k-20260905/open_loop_comparison_vs_uniform_50k.json

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+{
+  "passed": true,
+  "comparison": "same recorded observations and common native-rate prefix",
+  "observations": 17141,
+  "horizon_steps": 10,
+  "adaptive": {
+    "model_vs_original": {
+      "rmse": 0.019945802359209296,
+      "mae": 0.01006904036477618,
+      "first_action_rmse": 0.012546441657000015,
+      "arm_rmse": 0.014730316661343936,
+      "gripper_rmse": 0.03850911383825488
+    },
+    "representation_vs_original": {
+      "rmse": 0.005637325994463519,
+      "mae": 0.0009061932751046877,
+      "first_action_rmse": 0.005609076379002105,
+      "arm_rmse": 0.00045923988441204,
+      "gripper_rmse": 0.014872481398420704
+    }
+  },
+  "uniform": {
+    "model_vs_original": {
+      "rmse": 0.016995397741711427,
+      "mae": 0.009087260364547886,
+      "first_action_rmse": 0.011662990090511994,
+      "arm_rmse": 0.013803311045152521,
+      "gripper_rmse": 0.029643151585777988
+    },
+    "representation_vs_original": {
+      "rmse": 0.0016616775465194856,
+      "mae": 0.00042790552912565905,
+      "first_action_rmse": 0.00012573248068408887,
+      "arm_rmse": 0.0005753061803008214,
+      "gripper_rmse": 0.004164413845152183
+    }
+  },
+  "adaptive_vs_uniform": {
+    "model_arm_rmse_reduction_fraction": -0.0671582066910652,
+    "model_overall_rmse_reduction_fraction": -0.17360021002961035,
+    "representation_arm_rmse_reduction_fraction": 0.20174699988116174
+  },
+  "gripper_note": "Continuous gripper error is reported separately because gripper dimension 6 is excluded from knot placement and is projected to binary commands during deployment."
+}