RoboCasa Atomic26 Task-Level Eval Table
- Source root:
/home/minje/dgx_h200/groot_robocasa/Experiments_v2plus 48server runs noted below. - Run tag:
seed42_my_atomic26_nenv10. - Column order:
baseline_120k_v1fixed first, non-KL columns sorted by current AVG descending, KL columns grouped at the right and sorted by current AVG descending. - Task-level column headers use short display names;
Task CountsandSource Pathskeep the full labels and requested slugs. - Cell format:
score (delta vs baseline_120k_v1). Missing task results are-. - AVG row is shown first. AVG uses the tasks available for each individual run, so partial runs average only completed tasks.
RKD_v2.1_DA__Student_MeanPool___LPis included only up to currently availablestats.jsonoutputs.- Colored table artifact:
/home/minje/dgx_h200/groot_robocasa/Experiments_v2/Table.png.
Task Counts
| Model label | Requested slug | Tasks | AVG (delta) | Summary |
|---|---|---|---|---|
| baseline_120k_v1 | baseline_120k_v1 |
26/26 | 53.9 (+0) | summary.txt |
| RKD v2 A | rkd_v2_A_phase3_30k |
26/26 | 55.1 (+1.2) | summary.txt |
| RKD DA ActionEncoderLP | mgrkd_v2_1_action_encoder_phase3_30k |
26/26 | 54.8 (+0.9) | summary.txt |
| RKD DA RawActionLP | mgrkd_v2_1_raw_action_phase3_30k |
26/26 | 54.5 (+0.5) | summary.txt |
| RKD MeanPool+LP | RKD_v2.1_DA__Student_MeanPool___LP |
19/26 | 54.2 (+0.3) | stats.json partial |
| RKD v1 0.1 | rkd_v1_aux_fixed_0p5_temp0_1_phase3_30k |
26/26 | 54.2 (+0.3) | summary.txt |
| RKD v2.1 A | rkd_v2_1_A_phase3_30k |
26/26 | 54.2 (+0.2) | summary.txt |
| RKD v2.1 DA | rkd_v2_1_DA_phase3_30k |
26/26 | 54.2 (+0.3) | summary.txt |
| RKD v2.1 DA MoreSteps | rkd_v2_1_DA_moresteps_200k |
26/26 | 54.2 (+0.2) | summary.txt |
| MGD 0.3 | mgd_0_3_phase3_30k |
26/26 | 54 (+0.1) | summary.txt |
| RKD v2.1 DA MoreP2&3 | rkd_v2_1_DA_more_p2p3 |
26/26 | 53.9 (+0) | summary.txt |
| RKD v2.1 A MoreSteps | rkd_v2_1_A_moresteps_200k |
26/26 | 53.5 (-0.4) | summary.txt |
| rkd_v2_1_DA_full_120k | rkd_v2_1_DA_full_120k |
26/26 | 47.8 (-6.1) | summary.txt |
| RowWiseControlGated KL-DTW | RKD v2.1 KL-DTW APHead RowWiseControlGatedAdaptiveProbMix |
26/26 | 55.8 (+1.8) | summary.txt |
| mgrkd_kl_flatten_action_encoder | mgrkd_kl_flatten_action_encoder |
26/26 | 55.5 (+1.6) | summary.txt |
| ComponentProbMix KL-DTW | RKD v2.1 KL-DTW APHead ComponentProbMix |
26/26 | 53.6 (-0.3) | summary.txt |
Task-Level Scores
| Task | Reference | Non-KL | KL | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| baseline_120k_v1 | RKD v2 A | DA ActionEnc LP | DA RawAction LP | MeanPool+LP | RKD v1 0.1 | RKD v2.1 A | RKD v2.1 DA | DA MoreSteps | MGD 0.3 | DA MoreP2&3 | A MoreSteps | DA Full 120k | RowWiseControlGated | Flatten ActionEnc | ComponentProbMix | |
| AVG | 53.9 (+0) | 55.1 (+1.2) | 54.8 (+0.9) | 54.5 (+0.5) | 54.2 (+0.3) | 54.2 (+0.3) | 54.2 (+0.2) | 54.2 (+0.3) | 54.2 (+0.2) | 54 (+0.1) | 53.9 (+0) | 53.5 (-0.4) | 47.8 (-6.1) | 55.8 (+1.8) | 55.5 (+1.6) | 53.6 (-0.3) |
| CloseBlenderLid | 12 (+0) | 8 (-4) | 8 (-4) | 8 (-4) | 12 (+0) | 8 (-4) | 14 (+2) | 6 (-6) | 6 (-6) | 6 (-6) | 8 (-4) | 12 (+0) | 2 (-10) | 10 (-2) | 14 (+2) | 6 (-6) |
| CloseFridge | 84 (+0) | 80 (-4) | 86 (+2) | 82 (-2) | 80 (-4) | 84 (+0) | 76 (-8) | 80 (-4) | 80 (-4) | 78 (-6) | 88 (+4) | 76 (-8) | 78 (-6) | 88 (+4) | 76 (-8) | 70 (-14) |
| CloseToasterOvenDoor | 74 (+0) | 74 (+0) | 66 (-8) | 66 (-8) | 70 (-4) | 68 (-6) | 70 (-4) | 76 (+2) | 76 (+2) | 74 (+0) | 72 (-2) | 70 (-4) | 66 (-8) | 82 (+8) | 70 (-4) | 70 (-4) |
| CoffeeSetupMug | 46 (+0) | 44 (-2) | 38 (-8) | 38 (-8) | 38 (-8) | 24 (-22) | 38 (-8) | 36 (-10) | 36 (-10) | 40 (-6) | 34 (-12) | 38 (-8) | 44 (-2) | 34 (-12) | 50 (+4) | 46 (+0) |
| NavigateKitchen | 32 (+0) | 38 (+6) | 44 (+12) | 40 (+8) | 42 (+10) | 42 (+10) | 32 (+0) | 40 (+8) | 40 (+8) | 40 (+8) | 50 (+18) | 36 (+4) | 36 (+4) | 42 (+10) | 46 (+14) | 36 (+4) |
| OpenCabinet | 54 (+0) | 56 (+2) | 48 (-6) | 54 (+0) | 56 (+2) | 58 (+4) | 60 (+6) | 52 (-2) | 52 (-2) | 50 (-4) | 58 (+4) | 60 (+6) | 36 (-18) | 56 (+2) | 56 (+2) | 50 (-4) |
| OpenDrawer | 54 (+0) | 58 (+4) | 50 (-4) | 52 (-2) | 58 (+4) | 52 (-2) | 52 (-2) | 60 (+6) | 60 (+6) | 58 (+4) | 56 (+2) | 52 (-2) | 46 (-8) | 62 (+8) | 48 (-6) | 62 (+8) |
| OpenStandMixerHead | 92 (+0) | 92 (+0) | 94 (+2) | 94 (+2) | 90 (-2) | 94 (+2) | 90 (-2) | 90 (-2) | 90 (-2) | 90 (-2) | 92 (+0) | 90 (-2) | 92 (+0) | 94 (+2) | 94 (+2) | 90 (-2) |
| PickPlaceCounterToCabinet | 46 (+0) | 50 (+4) | 44 (-2) | 50 (+4) | 50 (+4) | 48 (+2) | 46 (+0) | 44 (-2) | 44 (-2) | 42 (-4) | 44 (-2) | 46 (+0) | 30 (-16) | 48 (+2) | 50 (+4) | 36 (-10) |
| PickPlaceCounterToStove | 22 (+0) | 32 (+10) | 40 (+18) | 40 (+18) | 42 (+20) | 44 (+22) | 40 (+18) | 38 (+16) | 38 (+16) | 38 (+16) | 50 (+28) | 40 (+18) | 38 (+16) | 40 (+18) | 32 (+10) | 48 (+26) |
| PickPlaceDrawerToCounter | 50 (+0) | 38 (-12) | 48 (-2) | 34 (-16) | 44 (-6) | 40 (-10) | 44 (-6) | 46 (-4) | 46 (-4) | 42 (-8) | 38 (-12) | 44 (-6) | 40 (-10) | 46 (-4) | 44 (-6) | 38 (-12) |
| PickPlaceSinkToCounter | 62 (+0) | 66 (+4) | 62 (+0) | 64 (+2) | 74 (+12) | 62 (+0) | 68 (+6) | 64 (+2) | 66 (+4) | 64 (+2) | 54 (-8) | 52 (-10) | 42 (-20) | 64 (+2) | 72 (+10) | 68 (+6) |
| PickPlaceToasterToCounter | 86 (+0) | 80 (-6) | 76 (-10) | 78 (-8) | 76 (-10) | 80 (-6) | 82 (-4) | 84 (-2) | 84 (-2) | 80 (-6) | 82 (-4) | 82 (-4) | 74 (-12) | 76 (-10) | 84 (-2) | 88 (+2) |
| PickPlaceCabinetToCounter | 52 (+0) | 50 (-2) | 54 (+2) | 60 (+8) | - | 56 (+4) | 50 (-2) | 50 (-2) | 50 (-2) | 54 (+2) | 56 (+4) | 50 (-2) | 36 (-16) | 52 (+0) | 46 (-6) | 52 (+0) |
| TurnOnElectricKettle | 78 (+0) | 74 (-4) | 74 (-4) | 78 (+0) | 78 (+0) | 82 (+4) | 84 (+6) | 78 (+0) | 74 (-4) | 80 (+2) | 86 (+8) | 84 (+6) | 78 (+0) | 82 (+4) | 82 (+4) | 80 (+2) |
| TurnOnMicrowave | 38 (+0) | 30 (-8) | 38 (+0) | 42 (+4) | 26 (-12) | 30 (-8) | 32 (-6) | 20 (-18) | 20 (-18) | 30 (-8) | 20 (-18) | 32 (-6) | 26 (-12) | 28 (-10) | 32 (-6) | 30 (-8) |
| TurnOffMicrowave | 26 (+0) | 32 (+6) | 24 (-2) | 28 (+2) | - | 26 (+0) | 26 (+0) | 24 (-2) | 24 (-2) | 28 (+2) | 24 (-2) | 26 (+0) | 24 (-2) | 36 (+10) | 28 (+2) | 28 (+2) |
| OpenElectricKettleLid | 50 (+0) | 60 (+10) | 50 (+0) | 50 (+0) | - | 48 (-2) | 56 (+6) | 60 (+10) | 56 (+6) | 66 (+16) | 46 (-4) | 56 (+6) | 38 (-12) | 54 (+4) | 56 (+6) | 64 (+14) |
| SlideDishwasherRack | 70 (+0) | 68 (-2) | 72 (+2) | 68 (-2) | 70 (+0) | 62 (-8) | 70 (+0) | 70 (+0) | 70 (+0) | 62 (-8) | 68 (-2) | 70 (+0) | 70 (+0) | 72 (+2) | 72 (+2) | 78 (+8) |
| TurnOnSinkFaucet | 66 (+0) | 72 (+6) | 74 (+8) | 70 (+4) | 66 (+0) | 74 (+8) | 68 (+2) | 68 (+2) | 70 (+4) | 58 (-8) | 58 (-8) | 66 (+0) | 60 (-6) | 66 (+0) | 68 (+2) | 52 (-14) |
| TurnSinkSpout | 98 (+0) | 98 (+0) | 98 (+0) | 96 (-2) | - | 96 (-2) | 98 (+0) | 96 (-2) | 96 (-2) | 96 (-2) | 98 (+0) | 94 (-4) | 88 (-10) | 96 (-2) | 96 (-2) | 90 (-8) |
| TurnOffSinkFaucet | 84 (+0) | 84 (+0) | 92 (+8) | 82 (-2) | - | 86 (+2) | 84 (+0) | 86 (+2) | 88 (+4) | 90 (+6) | 88 (+4) | 88 (+4) | 94 (+10) | 84 (+0) | 80 (-4) | 90 (+6) |
| AdjustWaterTemperature | 46 (+0) | 56 (+10) | 58 (+12) | 56 (+10) | - | 58 (+12) | 52 (+6) | 56 (+10) | 56 (+10) | 50 (+4) | 48 (+2) | 52 (+6) | 42 (-4) | 54 (+8) | 50 (+4) | 42 (-4) |
| TurnOffStove | 24 (+0) | 24 (+0) | 24 (+0) | 26 (+2) | 28 (+4) | 24 (+0) | 26 (+2) | 28 (+4) | 28 (+4) | 26 (+2) | 22 (-2) | 26 (+2) | 20 (-4) | 26 (+2) | 24 (+0) | 24 (+0) |
| TurnOnStove | 30 (+0) | 40 (+10) | 32 (+2) | 28 (-2) | - | 38 (+8) | 30 (+0) | 40 (+10) | 40 (+10) | 38 (+8) | 40 (+10) | 30 (+0) | 30 (+0) | 36 (+6) | 44 (+14) | 30 (+0) |
| AdjustToasterOvenTemperature | 26 (+0) | 28 (+2) | 32 (+6) | 32 (+6) | 30 (+4) | 26 (+0) | 20 (-6) | 18 (-8) | 18 (-8) | 24 (-2) | 22 (-4) | 20 (-6) | 14 (-12) | 22 (-4) | 30 (+4) | 26 (+0) |
Source Paths
- baseline_120k_v1 (
baseline_120k_v1):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/1. Baseline/baseline_120k_v1/seed42_my_atomic26_nenv10 - RKD v2 A (
rkd_v2_A_phase3_30k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v1~2/RKD v2 A/seed42_my_atomic26_nenv10 - RKD DA ActionEncoderLP (
mgrkd_v2_1_action_encoder_phase3_30k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/RKDv2.1 APHead LP/RKD DA ActionEncoderLP/seed42_my_atomic26_nenv10 - RKD DA RawActionLP (
mgrkd_v2_1_raw_action_phase3_30k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/RKDv2.1 APHead LP/RKD DA RawActionLP/seed42_my_atomic26_nenv10 - RKD MeanPool+LP (
RKD_v2.1_DA__Student_MeanPool___LP):/home/minje/48server/groot_robocasa/Experiments_v2/RKDv2.1_DA_MeanPool_LP_phase3/seed42_my_atomic26_nenv10 - RKD v1 0.1 (
rkd_v1_aux_fixed_0p5_temp0_1_phase3_30k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v1~2/RKD v1 0.1/seed42_my_atomic26_nenv10 - RKD v2.1 A (
rkd_v2_1_A_phase3_30k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 A/seed42_my_atomic26_nenv10 - RKD v2.1 DA (
rkd_v2_1_DA_phase3_30k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/RKD v2.1 MM/RKD v2.1 DA/seed42_my_atomic26_nenv10 - RKD v2.1 DA MoreSteps (
rkd_v2_1_DA_moresteps_200k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/Steps Ablation/RKD v2.1 DA MoreSteps/seed42_my_atomic26_nenv10 - MGD 0.3 (
mgd_0_3_phase3_30k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/3. MGD/MGD 0.3/seed42_my_atomic26_nenv10 - RKD v2.1 DA MoreP2&3 (
rkd_v2_1_DA_more_p2p3):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/Steps Ablation/RKD v2.1 DA MoreP2&3/seed42_my_atomic26_nenv10 - RKD v2.1 A MoreSteps (
rkd_v2_1_A_moresteps_200k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/Steps Ablation/RKD v2.1 A MoreSteps/seed42_my_atomic26_nenv10 - rkd_v2_1_DA_full_120k (
rkd_v2_1_DA_full_120k):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/2. RKD/RKD v2.1/Steps Ablation/RKD v2.1 DA FullSchedule/seed42_my_atomic26_nenv10 - RowWiseControlGated KL-DTW (
RKD v2.1 KL-DTW APHead RowWiseControlGatedAdaptiveProbMix):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/RKDv2.1_KL_DTW_APHead_RowWiseControlGatedAdaptiveProbMix_phase3/seed42_my_atomic26_nenv10 - mgrkd_kl_flatten_action_encoder (
mgrkd_kl_flatten_action_encoder):/home/minje/48server/groot_robocasa/Experiments_v2/MGRKD/mgrkd_kl_flatten_action_encoder_temp0p1_phase3/seed42_my_atomic26_nenv10 - ComponentProbMix KL-DTW (
RKD v2.1 KL-DTW APHead ComponentProbMix):/home/minje/dgx_h200/groot_robocasa/Experiments_v2/RKDv2.1_KL_DTW_APHead_ComponentProbMix_phase3/seed42_my_atomic26_nenv10