# 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
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`