Upload Piper adaptive B-spline representation/representation_comparison.json

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

@@ -0,0 +1,99 @@
+{
+  "adaptive_arm_rmse_reduction_vs_uniform_fraction": 0.3168966088902744,
+  "adaptive_arm_rmse_reduction_vs_uniform_percent": 31.689660889027436,
+  "criterion": "adaptive-left arm RMSE must beat uniform-left at equal global control budget",
+  "equal_global_control_budget": {
+    "all_episodes_hit_configured_cap": true,
+    "episode_count": 52,
+    "per_episode_max": 209,
+    "per_episode_min": 130,
+    "total_controls": 8688,
+    "verified": true
+  },
+  "fixed_20_step_deployment_compatibility": {
+    "adaptive_excluded_gripper_with_final_sample_padding": {
+      "arm_rmse": 0.01810577290075762,
+      "binary_gripper_state_accuracy": 0.9941426987923692,
+      "gripper_rmse": 0.023013130896771587,
+      "gripper_threshold": 0.3,
+      "mae": 0.0037940942731815824,
+      "max_absolute_error": 0.7609868552219613,
+      "records_requiring_final_sample_padding": 8649,
+      "rmse": 0.018885059354174286,
+      "samples": 342820
+    },
+    "uniform_left": {
+      "arm_rmse": 0.0006168631262472685,
+      "binary_gripper_state_accuracy": 0.9987281955545184,
+      "gripper_rmse": 0.004593946150585986,
+      "gripper_threshold": 0.3,
+      "mae": 0.0004692148638526454,
+      "max_absolute_error": 0.09385835350180505,
+      "rmse": 0.0018278583070133944,
+      "samples": 342820
+    },
+    "warning": "Adaptive duration geometry has a variable native horizon. Padding preserves the fixed server tensor shape but is not equivalent to representing all 20 future steps."
+  },
+  "fixed_horizon": 20,
+  "global_episode_fit_at_equal_control_budget": {
+    "adaptive_all_dimensions_reference": {
+      "arm_rmse": 0.0005200408188572993,
+      "binary_gripper_state_accuracy": 1.0,
+      "gripper_rmse": 0.00033372608569178484,
+      "gripper_threshold": 0.3,
+      "mae": 0.00028451204842450486,
+      "max_absolute_error": 0.004233712642223719,
+      "rmse": 0.0004977130297582251,
+      "samples": 17141
+    },
+    "adaptive_excluded_gripper": {
+      "arm_rmse": 0.00045389932973617604,
+      "binary_gripper_state_accuracy": 0.9953328277230034,
+      "gripper_rmse": 0.01429838070835159,
+      "gripper_threshold": 0.3,
+      "mae": 0.0008632011114578526,
+      "max_absolute_error": 0.2216102187662441,
+      "rmse": 0.00542059351639877,
+      "samples": 17141
+    },
+    "uniform_knots": {
+      "arm_rmse": 0.000664466515089027,
+      "binary_gripper_state_accuracy": 0.9986581879703634,
+      "gripper_rmse": 0.005091581643606023,
+      "gripper_threshold": 0.3,
+      "mae": 0.0005289266201124961,
+      "max_absolute_error": 0.07006481783910556,
+      "rmse": 0.0020203711869552637,
+      "samples": 17141
+    }
+  },
+  "guaranteed_fixed_prefix": {
+    "adaptive_arm_rmse_reduction_vs_uniform_fraction": 0.2044039102909736,
+    "adaptive_arm_rmse_reduction_vs_uniform_percent": 20.44039102909736,
+    "adaptive_excluded_gripper": {
+      "arm_rmse": 0.0004550520806752175,
+      "binary_gripper_state_accuracy": 0.9951694766933085,
+      "gripper_rmse": 0.014872354274607917,
+      "gripper_threshold": 0.3,
+      "mae": 0.0008921639613110299,
+      "max_absolute_error": 0.23818350797983245,
+      "rmse": 0.0056369869870628265,
+      "samples": 171410
+    },
+    "horizon_steps": 10,
+    "records_requiring_padding": 0,
+    "uniform_left": {
+      "arm_rmse": 0.0005719636968573385,
+      "binary_gripper_state_accuracy": 0.9989090484802521,
+      "gripper_rmse": 0.0041641478196758714,
+      "gripper_threshold": 0.3,
+      "mae": 0.0004154693430702678,
+      "max_absolute_error": 0.09335422868760523,
+      "rmse": 0.001660592918518976,
+      "samples": 171410
+    }
+  },
+  "note": "Gripper dimension 6 does not place knots, so arm geometry improves while continuous gripper reconstruction is intentionally a separate tradeoff; thresholded state accuracy is reported.",
+  "passed": true,
+  "source_dataset": "/scratch/wangpc/DiscreteRTCv2/data/20260818_piper_pick_white_block_25hz"
+}