| # RoboCasa Atomic26 Task-Level Eval Table |
|
|
| - Source root: `/home/minje/dgx_h200/groot_robocasa/Experiments_v2` plus 48server runs noted below. |
| - Run tag: `seed42_my_atomic26_nenv10`. |
| - Column order: `baseline_120k_v1` fixed 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 Counts` and `Source Paths` keep 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___LP` is included only up to currently available `stats.json` outputs. |
| - 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 |
|
|
| <table> |
| <thead> |
| <tr> |
| <th rowspan="2">Task</th> |
| <th colspan="1">Reference</th> |
| <th colspan="12">Non-KL</th> |
| <th colspan="3">KL</th> |
| </tr> |
| <tr> |
| <th>baseline_120k_v1</th> |
| <th>RKD v2 A</th> |
| <th>DA ActionEnc LP</th> |
| <th>DA RawAction LP</th> |
| <th>MeanPool+LP</th> |
| <th>RKD v1 0.1</th> |
| <th>RKD v2.1 A</th> |
| <th>RKD v2.1 DA</th> |
| <th>DA MoreSteps</th> |
| <th>MGD 0.3</th> |
| <th>DA MoreP2&3</th> |
| <th>A MoreSteps</th> |
| <th>DA Full 120k</th> |
| <th>RowWiseControlGated</th> |
| <th>Flatten ActionEnc</th> |
| <th>ComponentProbMix</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr> |
| <td style="background:#f4f4f4;font-weight:700;">AVG</td> |
| <td style="background:#f4f4f4;font-weight:700;">53.9 (+0)</td> |
| <td style="background:#f4f4f4;font-weight:700;">55.1 (+1.2)</td> |
| <td style="background:#f4f4f4;font-weight:700;">54.8 (+0.9)</td> |
| <td style="background:#f4f4f4;font-weight:700;">54.5 (+0.5)</td> |
| <td style="background:#f4f4f4;font-weight:700;">54.2 (+0.3)</td> |
| <td style="background:#f4f4f4;font-weight:700;">54.2 (+0.3)</td> |
| <td style="background:#f4f4f4;font-weight:700;">54.2 (+0.2)</td> |
| <td style="background:#f4f4f4;font-weight:700;">54.2 (+0.3)</td> |
| <td style="background:#f4f4f4;font-weight:700;">54.2 (+0.2)</td> |
| <td style="background:#f4f4f4;font-weight:700;">54 (+0.1)</td> |
| <td style="background:#f4f4f4;font-weight:700;">53.9 (+0)</td> |
| <td style="background:#f4f4f4;font-weight:700;">53.5 (-0.4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">47.8 (-6.1)</td> |
| <td style="background:#f4f4f4;font-weight:700;">55.8 (+1.8)</td> |
| <td style="background:#f4f4f4;font-weight:700;">55.5 (+1.6)</td> |
| <td style="background:#f4f4f4;font-weight:700;">53.6 (-0.3)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">CloseBlenderLid</td> |
| <td style="background:white;">12 (+0)</td> |
| <td style="background:white;">8 (-4)</td> |
| <td style="background:white;">8 (-4)</td> |
| <td style="background:white;">8 (-4)</td> |
| <td style="background:white;">12 (+0)</td> |
| <td style="background:white;">8 (-4)</td> |
| <td style="background:white;">14 (+2)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">6 (-6)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">6 (-6)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">6 (-6)</td> |
| <td style="background:white;">8 (-4)</td> |
| <td style="background:white;">12 (+0)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">2 (-10)</td> |
| <td style="background:white;">10 (-2)</td> |
| <td style="background:white;">14 (+2)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">6 (-6)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">CloseFridge</td> |
| <td style="background:white;">84 (+0)</td> |
| <td style="background:white;">80 (-4)</td> |
| <td style="background:white;">86 (+2)</td> |
| <td style="background:white;">82 (-2)</td> |
| <td style="background:white;">80 (-4)</td> |
| <td style="background:white;">84 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">76 (-8)</td> |
| <td style="background:white;">80 (-4)</td> |
| <td style="background:white;">80 (-4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">78 (-6)</td> |
| <td style="background:white;">88 (+4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">76 (-8)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">78 (-6)</td> |
| <td style="background:white;">88 (+4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">76 (-8)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">70 (-14)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">CloseToasterOvenDoor</td> |
| <td style="background:white;">74 (+0)</td> |
| <td style="background:white;">74 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">66 (-8)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">66 (-8)</td> |
| <td style="background:white;">70 (-4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">68 (-6)</td> |
| <td style="background:white;">70 (-4)</td> |
| <td style="background:white;">76 (+2)</td> |
| <td style="background:white;">76 (+2)</td> |
| <td style="background:white;">74 (+0)</td> |
| <td style="background:white;">72 (-2)</td> |
| <td style="background:white;">70 (-4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">66 (-8)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">82 (+8)</td> |
| <td style="background:white;">70 (-4)</td> |
| <td style="background:white;">70 (-4)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">CoffeeSetupMug</td> |
| <td style="background:white;">46 (+0)</td> |
| <td style="background:white;">44 (-2)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">24 (-22)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-10)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-10)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">40 (-6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">34 (-12)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">38 (-8)</td> |
| <td style="background:white;">44 (-2)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">34 (-12)</td> |
| <td style="background:white;">50 (+4)</td> |
| <td style="background:white;">46 (+0)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">NavigateKitchen</td> |
| <td style="background:white;">32 (+0)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">38 (+6)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">44 (+12)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">40 (+8)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">42 (+10)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">42 (+10)</td> |
| <td style="background:white;">32 (+0)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">40 (+8)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">40 (+8)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">40 (+8)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">50 (+18)</td> |
| <td style="background:white;">36 (+4)</td> |
| <td style="background:white;">36 (+4)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">42 (+10)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">46 (+14)</td> |
| <td style="background:white;">36 (+4)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">OpenCabinet</td> |
| <td style="background:white;">54 (+0)</td> |
| <td style="background:white;">56 (+2)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">48 (-6)</td> |
| <td style="background:white;">54 (+0)</td> |
| <td style="background:white;">56 (+2)</td> |
| <td style="background:white;">58 (+4)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+6)</td> |
| <td style="background:white;">52 (-2)</td> |
| <td style="background:white;">52 (-2)</td> |
| <td style="background:white;">50 (-4)</td> |
| <td style="background:white;">58 (+4)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-18)</td> |
| <td style="background:white;">56 (+2)</td> |
| <td style="background:white;">56 (+2)</td> |
| <td style="background:white;">50 (-4)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">OpenDrawer</td> |
| <td style="background:white;">54 (+0)</td> |
| <td style="background:white;">58 (+4)</td> |
| <td style="background:white;">50 (-4)</td> |
| <td style="background:white;">52 (-2)</td> |
| <td style="background:white;">58 (+4)</td> |
| <td style="background:white;">52 (-2)</td> |
| <td style="background:white;">52 (-2)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+6)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+6)</td> |
| <td style="background:white;">58 (+4)</td> |
| <td style="background:white;">56 (+2)</td> |
| <td style="background:white;">52 (-2)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">46 (-8)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">62 (+8)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">48 (-6)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">62 (+8)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">OpenStandMixerHead</td> |
| <td style="background:white;">92 (+0)</td> |
| <td style="background:white;">92 (+0)</td> |
| <td style="background:white;">94 (+2)</td> |
| <td style="background:white;">94 (+2)</td> |
| <td style="background:white;">90 (-2)</td> |
| <td style="background:white;">94 (+2)</td> |
| <td style="background:white;">90 (-2)</td> |
| <td style="background:white;">90 (-2)</td> |
| <td style="background:white;">90 (-2)</td> |
| <td style="background:white;">90 (-2)</td> |
| <td style="background:white;">92 (+0)</td> |
| <td style="background:white;">90 (-2)</td> |
| <td style="background:white;">92 (+0)</td> |
| <td style="background:white;">94 (+2)</td> |
| <td style="background:white;">94 (+2)</td> |
| <td style="background:white;">90 (-2)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">PickPlaceCounterToCabinet</td> |
| <td style="background:white;">46 (+0)</td> |
| <td style="background:white;">50 (+4)</td> |
| <td style="background:white;">44 (-2)</td> |
| <td style="background:white;">50 (+4)</td> |
| <td style="background:white;">50 (+4)</td> |
| <td style="background:white;">48 (+2)</td> |
| <td style="background:white;">46 (+0)</td> |
| <td style="background:white;">44 (-2)</td> |
| <td style="background:white;">44 (-2)</td> |
| <td style="background:white;">42 (-4)</td> |
| <td style="background:white;">44 (-2)</td> |
| <td style="background:white;">46 (+0)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">30 (-16)</td> |
| <td style="background:white;">48 (+2)</td> |
| <td style="background:white;">50 (+4)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-10)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">PickPlaceCounterToStove</td> |
| <td style="background:white;">22 (+0)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">32 (+10)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">42 (+20)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">44 (+22)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">38 (+16)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">38 (+16)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">38 (+16)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">50 (+28)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">38 (+16)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+18)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">32 (+10)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">48 (+26)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">PickPlaceDrawerToCounter</td> |
| <td style="background:white;">50 (+0)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">38 (-12)</td> |
| <td style="background:white;">48 (-2)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">34 (-16)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">44 (-6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">40 (-10)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">44 (-6)</td> |
| <td style="background:white;">46 (-4)</td> |
| <td style="background:white;">46 (-4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">42 (-8)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">38 (-12)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">44 (-6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">40 (-10)</td> |
| <td style="background:white;">46 (-4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">44 (-6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">38 (-12)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">PickPlaceSinkToCounter</td> |
| <td style="background:white;">62 (+0)</td> |
| <td style="background:white;">66 (+4)</td> |
| <td style="background:white;">62 (+0)</td> |
| <td style="background:white;">64 (+2)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">74 (+12)</td> |
| <td style="background:white;">62 (+0)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">68 (+6)</td> |
| <td style="background:white;">64 (+2)</td> |
| <td style="background:white;">66 (+4)</td> |
| <td style="background:white;">64 (+2)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">54 (-8)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">52 (-10)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">42 (-20)</td> |
| <td style="background:white;">64 (+2)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">72 (+10)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">68 (+6)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">PickPlaceToasterToCounter</td> |
| <td style="background:white;">86 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">80 (-6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">76 (-10)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">78 (-8)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">76 (-10)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">80 (-6)</td> |
| <td style="background:white;">82 (-4)</td> |
| <td style="background:white;">84 (-2)</td> |
| <td style="background:white;">84 (-2)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">80 (-6)</td> |
| <td style="background:white;">82 (-4)</td> |
| <td style="background:white;">82 (-4)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">74 (-12)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">76 (-10)</td> |
| <td style="background:white;">84 (-2)</td> |
| <td style="background:white;">88 (+2)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">PickPlaceCabinetToCounter</td> |
| <td style="background:white;">52 (+0)</td> |
| <td style="background:white;">50 (-2)</td> |
| <td style="background:white;">54 (+2)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">60 (+8)</td> |
| <td style="background:white;">-</td> |
| <td style="background:white;">56 (+4)</td> |
| <td style="background:white;">50 (-2)</td> |
| <td style="background:white;">50 (-2)</td> |
| <td style="background:white;">50 (-2)</td> |
| <td style="background:white;">54 (+2)</td> |
| <td style="background:white;">56 (+4)</td> |
| <td style="background:white;">50 (-2)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">36 (-16)</td> |
| <td style="background:white;">52 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">46 (-6)</td> |
| <td style="background:white;">52 (+0)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">TurnOnElectricKettle</td> |
| <td style="background:white;">78 (+0)</td> |
| <td style="background:white;">74 (-4)</td> |
| <td style="background:white;">74 (-4)</td> |
| <td style="background:white;">78 (+0)</td> |
| <td style="background:white;">78 (+0)</td> |
| <td style="background:white;">82 (+4)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">84 (+6)</td> |
| <td style="background:white;">78 (+0)</td> |
| <td style="background:white;">74 (-4)</td> |
| <td style="background:white;">80 (+2)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">86 (+8)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">84 (+6)</td> |
| <td style="background:white;">78 (+0)</td> |
| <td style="background:white;">82 (+4)</td> |
| <td style="background:white;">82 (+4)</td> |
| <td style="background:white;">80 (+2)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">TurnOnMicrowave</td> |
| <td style="background:white;">38 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">30 (-8)</td> |
| <td style="background:white;">38 (+0)</td> |
| <td style="background:white;">42 (+4)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">26 (-12)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">30 (-8)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">32 (-6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">20 (-18)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">20 (-18)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">30 (-8)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">20 (-18)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">32 (-6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">26 (-12)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">28 (-10)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">32 (-6)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">30 (-8)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">TurnOffMicrowave</td> |
| <td style="background:white;">26 (+0)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">32 (+6)</td> |
| <td style="background:white;">24 (-2)</td> |
| <td style="background:white;">28 (+2)</td> |
| <td style="background:white;">-</td> |
| <td style="background:white;">26 (+0)</td> |
| <td style="background:white;">26 (+0)</td> |
| <td style="background:white;">24 (-2)</td> |
| <td style="background:white;">24 (-2)</td> |
| <td style="background:white;">28 (+2)</td> |
| <td style="background:white;">24 (-2)</td> |
| <td style="background:white;">26 (+0)</td> |
| <td style="background:white;">24 (-2)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">36 (+10)</td> |
| <td style="background:white;">28 (+2)</td> |
| <td style="background:white;">28 (+2)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">OpenElectricKettleLid</td> |
| <td style="background:white;">50 (+0)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">60 (+10)</td> |
| <td style="background:white;">50 (+0)</td> |
| <td style="background:white;">50 (+0)</td> |
| <td style="background:white;">-</td> |
| <td style="background:white;">48 (-2)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">56 (+6)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">60 (+10)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">56 (+6)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">66 (+16)</td> |
| <td style="background:white;">46 (-4)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">56 (+6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">38 (-12)</td> |
| <td style="background:white;">54 (+4)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">56 (+6)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">64 (+14)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">SlideDishwasherRack</td> |
| <td style="background:white;">70 (+0)</td> |
| <td style="background:white;">68 (-2)</td> |
| <td style="background:white;">72 (+2)</td> |
| <td style="background:white;">68 (-2)</td> |
| <td style="background:white;">70 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">62 (-8)</td> |
| <td style="background:white;">70 (+0)</td> |
| <td style="background:white;">70 (+0)</td> |
| <td style="background:white;">70 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">62 (-8)</td> |
| <td style="background:white;">68 (-2)</td> |
| <td style="background:white;">70 (+0)</td> |
| <td style="background:white;">70 (+0)</td> |
| <td style="background:white;">72 (+2)</td> |
| <td style="background:white;">72 (+2)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">78 (+8)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">TurnOnSinkFaucet</td> |
| <td style="background:white;">66 (+0)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">72 (+6)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">74 (+8)</td> |
| <td style="background:white;">70 (+4)</td> |
| <td style="background:white;">66 (+0)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">74 (+8)</td> |
| <td style="background:white;">68 (+2)</td> |
| <td style="background:white;">68 (+2)</td> |
| <td style="background:white;">70 (+4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">58 (-8)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">58 (-8)</td> |
| <td style="background:white;">66 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">60 (-6)</td> |
| <td style="background:white;">66 (+0)</td> |
| <td style="background:white;">68 (+2)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">52 (-14)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">TurnSinkSpout</td> |
| <td style="background:white;">98 (+0)</td> |
| <td style="background:white;">98 (+0)</td> |
| <td style="background:white;">98 (+0)</td> |
| <td style="background:white;">96 (-2)</td> |
| <td style="background:white;">-</td> |
| <td style="background:white;">96 (-2)</td> |
| <td style="background:white;">98 (+0)</td> |
| <td style="background:white;">96 (-2)</td> |
| <td style="background:white;">96 (-2)</td> |
| <td style="background:white;">96 (-2)</td> |
| <td style="background:white;">98 (+0)</td> |
| <td style="background:white;">94 (-4)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">88 (-10)</td> |
| <td style="background:white;">96 (-2)</td> |
| <td style="background:white;">96 (-2)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">90 (-8)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">TurnOffSinkFaucet</td> |
| <td style="background:white;">84 (+0)</td> |
| <td style="background:white;">84 (+0)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">92 (+8)</td> |
| <td style="background:white;">82 (-2)</td> |
| <td style="background:white;">-</td> |
| <td style="background:white;">86 (+2)</td> |
| <td style="background:white;">84 (+0)</td> |
| <td style="background:white;">86 (+2)</td> |
| <td style="background:white;">88 (+4)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">90 (+6)</td> |
| <td style="background:white;">88 (+4)</td> |
| <td style="background:white;">88 (+4)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">94 (+10)</td> |
| <td style="background:white;">84 (+0)</td> |
| <td style="background:white;">80 (-4)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">90 (+6)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">AdjustWaterTemperature</td> |
| <td style="background:white;">46 (+0)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">56 (+10)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">58 (+12)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">56 (+10)</td> |
| <td style="background:white;">-</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">58 (+12)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">52 (+6)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">56 (+10)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">56 (+10)</td> |
| <td style="background:white;">50 (+4)</td> |
| <td style="background:white;">48 (+2)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">52 (+6)</td> |
| <td style="background:white;">42 (-4)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">54 (+8)</td> |
| <td style="background:white;">50 (+4)</td> |
| <td style="background:white;">42 (-4)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">TurnOffStove</td> |
| <td style="background:white;">24 (+0)</td> |
| <td style="background:white;">24 (+0)</td> |
| <td style="background:white;">24 (+0)</td> |
| <td style="background:white;">26 (+2)</td> |
| <td style="background:white;">28 (+4)</td> |
| <td style="background:white;">24 (+0)</td> |
| <td style="background:white;">26 (+2)</td> |
| <td style="background:white;">28 (+4)</td> |
| <td style="background:white;">28 (+4)</td> |
| <td style="background:white;">26 (+2)</td> |
| <td style="background:white;">22 (-2)</td> |
| <td style="background:white;">26 (+2)</td> |
| <td style="background:white;">20 (-4)</td> |
| <td style="background:white;">26 (+2)</td> |
| <td style="background:white;">24 (+0)</td> |
| <td style="background:white;">24 (+0)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">TurnOnStove</td> |
| <td style="background:white;">30 (+0)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+10)</td> |
| <td style="background:white;">32 (+2)</td> |
| <td style="background:white;">28 (-2)</td> |
| <td style="background:white;">-</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">38 (+8)</td> |
| <td style="background:white;">30 (+0)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+10)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+10)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">38 (+8)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">40 (+10)</td> |
| <td style="background:white;">30 (+0)</td> |
| <td style="background:white;">30 (+0)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">36 (+6)</td> |
| <td style="background:#f8c9a8;font-weight:700;color:#7a3300;">44 (+14)</td> |
| <td style="background:white;">30 (+0)</td> |
| </tr> |
| <tr> |
| <td style="background:white;">AdjustToasterOvenTemperature</td> |
| <td style="background:white;">26 (+0)</td> |
| <td style="background:white;">28 (+2)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">32 (+6)</td> |
| <td style="background:#fde4cf;font-weight:700;color:#7a3300;">32 (+6)</td> |
| <td style="background:white;">30 (+4)</td> |
| <td style="background:white;">26 (+0)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">20 (-6)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">18 (-8)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">18 (-8)</td> |
| <td style="background:white;">24 (-2)</td> |
| <td style="background:white;">22 (-4)</td> |
| <td style="background:#e2eef9;font-weight:700;color:#063b63;">20 (-6)</td> |
| <td style="background:#cfe3f7;font-weight:700;color:#063b63;">14 (-12)</td> |
| <td style="background:white;">22 (-4)</td> |
| <td style="background:white;">30 (+4)</td> |
| <td style="background:white;">26 (+0)</td> |
| </tr> |
| </tbody> |
| </table> |
|
|
| ## 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` |
|
|
