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README.md

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+---
+license: mit
+pretty_name: EPCC checkpoints and data
+tags:
+- robotics
+- world-model
+- model-predictive-control
+- diffusion
+- imitation-learning
+---
+
+# EPCC: checkpoints and data
+
+Checkpoints, evaluation datasets and published run directories for
+**Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play**
+([arXiv:2609.22798](https://arxiv.org/abs/2609.22798)).
+Code: [github.com/epcc-robotics/epcc](https://github.com/epcc-robotics/epcc).
+
+## Download
+
+```bash
+hf download epcc-robotics/epcc --repo-type dataset --local-dir epcc_data   # about 100 GB
+export STABLEWM_HOME=$PWD/epcc_data/data              # read by every evaluation cell
+export EPCC_PUBLISHED=$PWD/epcc_data/published_runs   # read by the Table I / II scorers
+```
+
+To rescore the paper's runs without running any policy, download only `published_runs/` (about 200 MB):
+
+```bash
+hf download epcc-robotics/epcc --repo-type dataset --local-dir epcc_data --include "published_runs/*"
+```
+
+## Contents
+
+`data/` is the `STABLEWM_HOME` tree that the paper's evaluation cells
+(`config/eval/cells/paper/` in the code repository) reference. `docs/DATA.md` in the code
+repository lists every file with the cells that use it. File names are the ones the cells
+were run with.
+
+| Path | Contents |
+|---|---|
+| `data/checkpoints/agg_plainM2_object.ckpt`, `agg_slipM1_object.ckpt`, `agg_slipM2_object.ckpt`, `agg_cubeM2_object.ckpt` | EPCC world models (PushT, Slippery-PushT, Cube), Table I and II |
+| `data/checkpoints/dtg/` | contour generators (latent diffusion, one per task), Table I and II, Fig. 4, data scaling |
+| `data/checkpoints/pusht_wm/`, `slippery_pusht/lewm/`, `cube_wm/` | base world models referenced by the baseline cells (`pusht_wm/lewm_object.ckpt` is the public LeWM PushT checkpoint) |
+| `data/checkpoints/dp/`, `skip/`, `sail/`, `data/cube/dp/`, `data/cube/sail/` | Diffusion Policy, SkiP and SAIL baselines |
+| `data/{pusht,slippery_pusht,cube}/sup/` | SuP baseline (ADM models and IQL gate) |
+| `data/pusht_invdyn/`, `data/slippery_pusht/invdyn_base/`, `data/cube/invdyn/` | inverse-dynamics models (Table II) |
+| `data/checkpoints/fricd0*0_object.ckpt`, `data/checkpoints/friction/` | world models and contour generators per friction level, Fig. 3a |
+| `data/checkpoints/f4cold/`, `wm_demoonly/`, `wm_playsub/` | world models of the data-composition study, Fig. 4 |
+| `data/checkpoints/scaling/` | world models of the data-scaling study (appendix) |
+| `data/datasets/` | evaluation datasets: slow expert demonstrations for PushT, Slippery-PushT and Cube (initial states and goals) |
+| `data/slippery_pusht/data/`, `data/{pusht,cube}/latents/` | demonstration sets and their latent encodings used by the contour generators |
+| `data/{pusht,slippery_pusht,cube}/sail/awe/` | SAIL waypoint labels |
+| `data/stats/` | observation / action scaler statistics of each world model's training corpus (the corpora themselves are not included) |
+| `published_runs/findings/260907_final_dtg_s1_warm/` | Table I (EPCC, Play+Goal) and Table II run directories and scores |
+| `published_runs/findings/261023_sup_robot/` | Table I SuP run directories and scores |
+| `published_runs/findings/260521_baseline_setup/` | baseline run directories read by the Table I scorer (Diffusion Policy, SkiP, SAIL at each k, SuP) |
+
+Each run directory holds `rollout_traj.npz` (states, actions and success flags of every
+episode), `meta.json` (the resolved configuration), the harness's `results.json` and, depending on
+the policy, control-timing traces and candidate decisions. The paper's
+success rates come from the scorers in the code repository (`paper/common/score_runs.py`), not
+from `results.json`.
+
+Absolute paths recorded in configurations, checkpoint metadata and HDF5 attributes were shortened to
+`${STABLEWM_HOME}/…`, `${REPO}/…` and `${TMPDIR}/…`, and the experiment-logging account name was
+replaced by `<wandb-entity>`; the paths document provenance and need not match this layout. The
+SAIL label files (`data/*/sail/awe/*.h5`) keep HDF5 external links to the images of the
+demonstration file they were labelled from; that file is not included and evaluation does not
+read these links.
+
+## License
+
+MIT, as the code. The PushT world models build on the
+[LeWorldModel](https://github.com/lucas-maes/le-wm) PushT checkpoint (MIT).
+
+```
+Copyright (c) 2026 Lucas Maes
+Copyright (c) 2026 the EPCC authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+```
+
+## Citation
+
+```bibtex
+@article{cho2026epcc,
+  title={Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play},
+  author={Seunghoon Cho and Wonsuhk Jung and Sundhar Vinodh Sangeetha and Shreyas Kousik},
+  journal={arXiv preprint arXiv:2609.22798},
+  year={2026}
+}
+```

published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k1.5_n50_r1/meta.json

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+{
+  "task": {
+    "task_name": "cube",
+    "env_name": "swm/OGBCube-v0",
+    "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11",
+    "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale",
+    "dataset_stats": "cube_multiview_WM",
+    "num_eval": 50,
+    "eval_budget": 471,
+    "goal_offset_steps": 25,
+    "control_timestep_s": 0.05,
+    "metrics": {
+      "_target_": "policy._metrics.CubeGTRMetrics",
+      "n_envs": "${task.num_eval}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    }
+  },
+  "policy": {
+    "_target_": "policy.sail.ReachedPoseSAILPolicy",
+    "fast_dt_factor": 1.5,
+    "slow_dt_factor": 1.0,
+    "base_control_timestep": 0.05,
+    "base_physics_timestep": 0.002,
+    "env_action_dim": 5,
+    "use_precision": true,
+    "precision_threshold": 0.5,
+    "precision_majority": 0.5,
+    "precision_mode": "per_env",
+    "inner": {
+      "_target_": "policy.dp.DPPolicy",
+      "ckpt_path": "${diffusion.ckpt_path}",
+      "train_h5_path": "${diffusion.train_h5_path}",
+      "action_dim": "${diffusion.action_dim}",
+      "action_horizon": "${diffusion.horizon}",
+      "action_steps": "${diffusion.action_steps}",
+      "obs_steps": "${diffusion.obs_steps}",
+      "image_size": "${diffusion.image_size}",
+      "n_views": "${diffusion.n_views}",
+      "crop_shape": "${diffusion.crop_shape}",
+      "sample_steps": "${diffusion.sample_steps}",
+      "use_group_norm": "${diffusion.use_group_norm}",
+      "use_seq": "${diffusion.use_seq}",
+      "nn": "${diffusion.nn}"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "cube_sail_awe_per_env_k1.5_n50_r1",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "logs_sail_reached",
+    "logs_subdir": "logs_sail_reached"
+  },
+  "diffusion": {
+    "ckpt_path": "${cache_dir}/cube/sail/dp_reached/models/model_final.pt",
+    "train_h5_path": "${cache_dir}/cube/sail/awe/cube_reached_precision_c03.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 6,
+    "image_size": 96,
+    "n_views": 2,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 5,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 942,
+    "history_size": 3,
+    "frame_skip": 5,
+    "env_type": "single",
+    "ob_type": "states",
+    "multiview": false,
+    "width": 224,
+    "height": 224,
+    "visualize_info": false,
+    "terminate_at_goal": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "${task.dataset_name}",
+    "goal_offset_steps": "${task.goal_offset_steps}",
+    "debug_video": false,
+    "start_offset": 5,
+    "save_traj": true,
+    "img_size": 224,
+    "callables": [
+      {
+        "method": "set_state",
+        "args": {
+          "qpos": {
+            "value": "qpos"
+          },
+          "qvel": {
+            "value": "qvel"
+          }
+        }
+      },
+      {
+        "method": "set_target_pos",
+        "args": {
+          "cube_id": {
+            "value": 0,
+            "in_dataset": false
+          },
+          "target_pos": {
+            "value": "goal_privileged_block_0_pos"
+          },
+          "target_quat": {
+            "value": "goal_privileged_block_0_quat"
+          }
+        }
+      }
+    ]
+  }
+}

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published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k1.5_n50_r1/results.txt

@@ -0,0 +1,10 @@
+Success rate (block-only): 98.0%
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+ttc_sim_time_actual_s:     6.062  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.05000  (recipe nominal)
+control_ts_range:          [0.03333, 0.05000]  (mean=0.03392)
+wall_time_s:               198.6
+mean_final_dist:           0.0105

published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/meta.json

@@ -0,0 +1,146 @@
+{
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+    "env_name": "swm/OGBCube-v0",
+    "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11",
+    "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale",
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published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/meta.yaml

@@ -0,0 +1,105 @@
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published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/results.json

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published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/results.txt

@@ -0,0 +1,10 @@
+Success rate (block-only): 100.0%
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+run_name:                  cube_sail_awe_per_env_k2.0_n50_r1
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+control_ts_range:          [0.02500, 0.05000]  (mean=0.02565)
+wall_time_s:               249.9
+mean_final_dist:           0.0065

published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/meta.json

@@ -0,0 +1,146 @@
+{
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+    "env_name": "swm/OGBCube-v0",
+    "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11",
+    "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale",
+    "dataset_stats": "cube_multiview_WM",
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+    "eval_budget": 785,
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+    "control_timestep_s": 0.05,
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+      "n_envs": "${task.num_eval}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    }
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+    "fast_dt_factor": 2.5,
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+      "action_horizon": "${diffusion.horizon}",
+      "action_steps": "${diffusion.action_steps}",
+      "obs_steps": "${diffusion.obs_steps}",
+      "image_size": "${diffusion.image_size}",
+      "n_views": "${diffusion.n_views}",
+      "crop_shape": "${diffusion.crop_shape}",
+      "sample_steps": "${diffusion.sample_steps}",
+      "use_group_norm": "${diffusion.use_group_norm}",
+      "use_seq": "${diffusion.use_seq}",
+      "nn": "${diffusion.nn}"
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+    "debug_video": false,
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+            "value": "goal_privileged_block_0_quat"
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+      }
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+}

published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/results.json

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+}

published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/results.txt

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+run_name:                  cube_sail_awe_per_env_k2.5_n50_r1
+ttc_steps_mean:            203.59
+ttc_sim_time_s:            10.180  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     4.366  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.05000  (recipe nominal)
+control_ts_range:          [0.02000, 0.05000]  (mean=0.02067)
+wall_time_s:               296.9
+mean_final_dist:           0.0111

published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k2.0_n50_r1/meta.json

@@ -0,0 +1,124 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 978,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "pusht_wm/lewm"
+  },
+  "policy": {
+    "_target_": "policy.sail_pusht.ReachedPosePushTSAILPolicy",
+    "fast_dt_factor": 2.0,
+    "slow_dt_factor": 1.0,
+    "base_control_timestep": 0.1,
+    "base_physics_timestep": 0.01,
+    "env_action_dim": 2,
+    "use_precision": true,
+    "precision_threshold": 0.5,
+    "precision_majority": 0.5,
+    "precision_mode": "per_env",
+    "inner": {
+      "_target_": "policy.dp.DPPolicy",
+      "ckpt_path": "${diffusion.ckpt_path}",
+      "train_h5_path": "${diffusion.train_h5_path}",
+      "action_dim": "${diffusion.action_dim}",
+      "action_horizon": "${diffusion.horizon}",
+      "action_steps": "${diffusion.action_steps}",
+      "obs_steps": "${diffusion.obs_steps}",
+      "image_size": "${diffusion.image_size}",
+      "n_views": "${diffusion.n_views}",
+      "crop_shape": "${diffusion.crop_shape}",
+      "sample_steps": "${diffusion.sample_steps}",
+      "use_group_norm": "${diffusion.use_group_norm}",
+      "use_seq": "${diffusion.use_seq}",
+      "nn": "${diffusion.nn}"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "plain_sail_awe_per_env_k2.0_n50_r1",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "logs_sail_reached",
+    "logs_subdir": "logs_sail_reached"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image_reached/reached_plain_park/42/models/model_final.pt",
+    "train_h5_path": "${cache_dir}/pusht/sail/awe/pusht_reached_precision_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 3,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 1956,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "${task.dataset_name}",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "save_traj": true,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ]
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k2.0_n50_r1/results.txt

@@ -0,0 +1,11 @@
+Success rate (block-only): 76.0%
+n_envs:                    50
+run_name:                  plain_sail_awe_per_env_k2.0_n50_r1
+mean_max_coverage:         0.6730  (DP-paper test/mean_score)
+mean_final_coverage:       0.5802  (end-step coverage)
+ttc_steps_mean:            326.05
+ttc_sim_time_s:            32.605  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     27.894  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+control_ts_range:          [0.05000, 0.10000]  (mean=0.05829)
+wall_time_s:               775.5

published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k3.0_n50_r1/meta.json

@@ -0,0 +1,124 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 1467,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "pusht_wm/lewm"
+  },
+  "policy": {
+    "_target_": "policy.sail_pusht.ReachedPosePushTSAILPolicy",
+    "fast_dt_factor": 3.0,
+    "slow_dt_factor": 1.0,
+    "base_control_timestep": 0.1,
+    "base_physics_timestep": 0.01,
+    "env_action_dim": 2,
+    "use_precision": true,
+    "precision_threshold": 0.5,
+    "precision_majority": 0.5,
+    "precision_mode": "per_env",
+    "inner": {
+      "_target_": "policy.dp.DPPolicy",
+      "ckpt_path": "${diffusion.ckpt_path}",
+      "train_h5_path": "${diffusion.train_h5_path}",
+      "action_dim": "${diffusion.action_dim}",
+      "action_horizon": "${diffusion.horizon}",
+      "action_steps": "${diffusion.action_steps}",
+      "obs_steps": "${diffusion.obs_steps}",
+      "image_size": "${diffusion.image_size}",
+      "n_views": "${diffusion.n_views}",
+      "crop_shape": "${diffusion.crop_shape}",
+      "sample_steps": "${diffusion.sample_steps}",
+      "use_group_norm": "${diffusion.use_group_norm}",
+      "use_seq": "${diffusion.use_seq}",
+      "nn": "${diffusion.nn}"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "plain_sail_awe_per_env_k3.0_n50_r1",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "logs_sail_reached",
+    "logs_subdir": "logs_sail_reached"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image_reached/reached_plain_park/42/models/model_final.pt",
+    "train_h5_path": "${cache_dir}/pusht/sail/awe/pusht_reached_precision_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 3,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 2934,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "${task.dataset_name}",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "save_traj": true,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ]
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k3.0_n50_r1/results.txt

@@ -0,0 +1,11 @@
+Success rate (block-only): 70.0%
+n_envs:                    50
+run_name:                  plain_sail_awe_per_env_k3.0_n50_r1
+mean_max_coverage:         0.6475  (DP-paper test/mean_score)
+mean_final_coverage:       0.5362  (end-step coverage)
+ttc_steps_mean:            378.97
+ttc_sim_time_s:            37.897  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     31.828  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+control_ts_range:          [0.03333, 0.10000]  (mean=0.04548)
+wall_time_s:               560.8

published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k1.5_n50_r1/meta.json

@@ -0,0 +1,125 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 891,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "slippery_pusht/lewm"
+  },
+  "policy": {
+    "_target_": "policy.sail_pusht.ReachedPosePushTSAILPolicy",
+    "fast_dt_factor": 1.5,
+    "slow_dt_factor": 1.0,
+    "base_control_timestep": 0.1,
+    "base_physics_timestep": 0.01,
+    "env_action_dim": 2,
+    "use_precision": true,
+    "precision_threshold": 0.5,
+    "precision_majority": 0.5,
+    "precision_mode": "per_env",
+    "inner": {
+      "_target_": "policy.dp.DPPolicy",
+      "ckpt_path": "${diffusion.ckpt_path}",
+      "train_h5_path": "${diffusion.train_h5_path}",
+      "action_dim": "${diffusion.action_dim}",
+      "action_horizon": "${diffusion.horizon}",
+      "action_steps": "${diffusion.action_steps}",
+      "obs_steps": "${diffusion.obs_steps}",
+      "image_size": "${diffusion.image_size}",
+      "n_views": "${diffusion.n_views}",
+      "crop_shape": "${diffusion.crop_shape}",
+      "sample_steps": "${diffusion.sample_steps}",
+      "use_group_norm": "${diffusion.use_group_norm}",
+      "use_seq": "${diffusion.use_seq}",
+      "nn": "${diffusion.nn}"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "slippery_sail_awe_per_env_k1.5_n50_r1",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "logs_sail_reached",
+    "logs_subdir": "logs_sail_reached"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image_reached/reached_slippery_park/42/models/model_final.pt",
+    "train_h5_path": "${cache_dir}/slippery_pusht/sail/awe/slippery_reached_precision_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 3,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 1782,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "damping": 0.35,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "slippery_pusht/data/expert_slow_050_n200_d035",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "save_traj": true,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ]
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k3.0_n50_r1/meta.json

@@ -0,0 +1,125 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 1782,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "slippery_pusht/lewm"
+  },
+  "policy": {
+    "_target_": "policy.sail_pusht.ReachedPosePushTSAILPolicy",
+    "fast_dt_factor": 3.0,
+    "slow_dt_factor": 1.0,
+    "base_control_timestep": 0.1,
+    "base_physics_timestep": 0.01,
+    "env_action_dim": 2,
+    "use_precision": true,
+    "precision_threshold": 0.5,
+    "precision_majority": 0.5,
+    "precision_mode": "per_env",
+    "inner": {
+      "_target_": "policy.dp.DPPolicy",
+      "ckpt_path": "${diffusion.ckpt_path}",
+      "train_h5_path": "${diffusion.train_h5_path}",
+      "action_dim": "${diffusion.action_dim}",
+      "action_horizon": "${diffusion.horizon}",
+      "action_steps": "${diffusion.action_steps}",
+      "obs_steps": "${diffusion.obs_steps}",
+      "image_size": "${diffusion.image_size}",
+      "n_views": "${diffusion.n_views}",
+      "crop_shape": "${diffusion.crop_shape}",
+      "sample_steps": "${diffusion.sample_steps}",
+      "use_group_norm": "${diffusion.use_group_norm}",
+      "use_seq": "${diffusion.use_seq}",
+      "nn": "${diffusion.nn}"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "slippery_sail_awe_per_env_k3.0_n50_r1",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "logs_sail_reached",
+    "logs_subdir": "logs_sail_reached"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image_reached/reached_slippery_park/42/models/model_final.pt",
+    "train_h5_path": "${cache_dir}/slippery_pusht/sail/awe/slippery_reached_precision_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 3,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 3564,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "damping": 0.35,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "slippery_pusht/data/expert_slow_050_n200_d035",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "save_traj": true,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ]
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k3.0_n50_r1/results.txt

@@ -0,0 +1,11 @@
+Success rate (block-only): 50.0%
+n_envs:                    50
+run_name:                  slippery_sail_awe_per_env_k3.0_n50_r1
+mean_max_coverage:         0.5529  (DP-paper test/mean_score)
+mean_final_coverage:       0.3012  (end-step coverage)
+ttc_steps_mean:            450.48
+ttc_sim_time_s:            45.048  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     42.341  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+control_ts_range:          [0.03333, 0.10000]  (mean=0.03948)
+wall_time_s:               682.1

published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/meta.json

@@ -0,0 +1,134 @@
+{
+  "task": {
+    "task_name": "cube",
+    "env_name": "swm/OGBCube-v0",
+    "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11",
+    "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale",
+    "dataset_stats": "cube_multiview_WM",
+    "num_eval": 50,
+    "eval_budget": null,
+    "goal_offset_steps": 25,
+    "control_timestep_s": 0.05,
+    "metrics": {
+      "_target_": "policy._metrics.CubeGTRMetrics",
+      "n_envs": "${task.num_eval}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    }
+  },
+  "policy": {
+    "_target_": "policy.dp.DPPolicy",
+    "ckpt_path": "${diffusion.ckpt_path}",
+    "train_h5_path": "${diffusion.train_h5_path}",
+    "action_dim": "${diffusion.action_dim}",
+    "action_horizon": "${diffusion.horizon}",
+    "action_steps": "${diffusion.action_steps}",
+    "obs_steps": "${diffusion.obs_steps}",
+    "image_size": "${diffusion.image_size}",
+    "n_views": "${diffusion.n_views}",
+    "crop_shape": "${diffusion.crop_shape}",
+    "sample_steps": "${diffusion.sample_steps}",
+    "use_group_norm": "${diffusion.use_group_norm}",
+    "use_seq": "${diffusion.use_seq}",
+    "nn": "${diffusion.nn}"
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "cube_dp_savetraj_n50",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "cube_dp_v2",
+    "logs_subdir": "logs_sail_savetraj"
+  },
+  "diffusion": {
+    "ckpt_path": "${cache_dir}/cube/dp/models/model_90000.pt",
+    "train_h5_path": "${cache_dir}/datasets/cube_multiview_diffusion_c0.3_postpad_fullscale.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 5,
+    "image_size": 96,
+    "n_views": 2,
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+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 5,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 628,
+    "history_size": 3,
+    "frame_skip": 5,
+    "env_type": "single",
+    "ob_type": "states",
+    "multiview": false,
+    "width": 224,
+    "height": 224,
+    "visualize_info": false,
+    "terminate_at_goal": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "${task.dataset_name}",
+    "goal_offset_steps": "${task.goal_offset_steps}",
+    "debug_video": false,
+    "start_offset": 5,
+    "img_size": 224,
+    "callables": [
+      {
+        "method": "set_state",
+        "args": {
+          "qpos": {
+            "value": "qpos"
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+          "qvel": {
+            "value": "qvel"
+          }
+        }
+      },
+      {
+        "method": "set_target_pos",
+        "args": {
+          "cube_id": {
+            "value": 0,
+            "in_dataset": false
+          },
+          "target_pos": {
+            "value": "goal_privileged_target_block_pos"
+          },
+          "target_quat": {
+            "value": "goal_privileged_block_0_quat"
+          }
+        }
+      }
+    ],
+    "save_traj": true
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/meta.yaml

@@ -0,0 +1,105 @@
+cache_dir: ${STABLEWM_HOME}
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+task: cube-mv

published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/results.json

@@ -0,0 +1,329 @@
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published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/results.txt

@@ -0,0 +1,9 @@
+Success rate (block-only): 96.0%
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+ttc_sim_time_actual_s:     7.140  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.05000  (recipe nominal)
+wall_time_s:               156.5
+mean_final_dist:           0.0094

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/meta.json

@@ -0,0 +1,155 @@
+{
+  "task": {
+    "task_name": "cube",
+    "env_name": "swm/OGBCube-v0",
+    "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11",
+    "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale",
+    "dataset_stats": "cube_multiview_WM",
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+    "eval_budget": null,
+    "goal_offset_steps": 25,
+    "control_timestep_s": 0.05,
+    "metrics": {
+      "_target_": "policy._metrics.CubeGTRMetrics",
+      "n_envs": "${task.num_eval}",
+      "control_timestep_s": "${task.control_timestep_s}"
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+  "policy": {
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+    "ckpt_path": "${diffusion.ckpt_path}",
+    "train_h5_path": "${diffusion.train_h5_path}",
+    "action_dim": "${diffusion.action_dim}",
+    "action_horizon": "${diffusion.horizon}",
+    "action_steps": "${diffusion.action_steps}",
+    "obs_steps": "${diffusion.obs_steps}",
+    "image_size": "${diffusion.image_size}",
+    "n_views": "${diffusion.n_views}",
+    "crop_shape": "${diffusion.crop_shape}",
+    "sample_steps": "${diffusion.sample_steps}",
+    "use_group_norm": "${diffusion.use_group_norm}",
+    "use_seq": "${diffusion.use_seq}",
+    "nn": "${diffusion.nn}",
+    "sup": {
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+      "log_decisions": true,
+      "channel": "full",
+      "adm_path": "${cache_dir}/cube/sup/adm_B.pt",
+      "iql_path": "${cache_dir}/cube/sup/iqlak_full_park_paper.pt"
+    }
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+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
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+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "logs_sh_repro_wallsoff",
+    "logs_subdir": "logs_sh_repro_wallsoff"
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+    "train_h5_path": "${cache_dir}/datasets/cube_multiview_diffusion_c0.3_postpad_fullscale.h5",
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+    "debug_video": false,
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+}

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/meta.yaml

@@ -0,0 +1,105 @@
+cache_dir: ${STABLEWM_HOME}
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+task: cube-mv

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/results.json

@@ -0,0 +1,540 @@
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+  "success_rate_loose": 0.8
+}

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/results.txt

@@ -0,0 +1,9 @@
+Success rate (block-only): 98.0%
+n_envs:                    50
+run_name:                  cube_sup_paperhp
+ttc_steps_mean:            63.22
+ttc_sim_time_s:            3.161  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     3.211  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.05000  (recipe nominal)
+wall_time_s:               313.3
+mean_final_dist:           0.0363

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_dp_wallsoff/meta.json

@@ -0,0 +1,112 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 489,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "pusht_wm/lewm"
+  },
+  "policy": {
+    "_target_": "policy.dp.DPPolicy",
+    "ckpt_path": "${diffusion.ckpt_path}",
+    "train_h5_path": "${diffusion.train_h5_path}",
+    "action_dim": "${diffusion.action_dim}",
+    "action_horizon": "${diffusion.horizon}",
+    "action_steps": "${diffusion.action_steps}",
+    "obs_steps": "${diffusion.obs_steps}",
+    "image_size": "${diffusion.image_size}",
+    "n_views": "${diffusion.n_views}",
+    "crop_shape": "${diffusion.crop_shape}",
+    "sample_steps": "${diffusion.sample_steps}",
+    "use_group_norm": "${diffusion.use_group_norm}",
+    "use_seq": "${diffusion.use_seq}",
+    "nn": "${diffusion.nn}"
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "pusht_dp_wallsoff",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "pusht_dp_cd_v2_inproc",
+    "logs_subdir": "logs_sh_repro_wallsoff"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image/dp_pusht_sv_image_park_plain_20260725_060028/42/models/model_final.pt",
+    "train_h5_path": "${STABLEWM_HOME}/datasets/expert_slow_025_n200_centered_v2_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 2,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 978,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "${task.dataset_name}",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ],
+    "save_traj": true
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_dp_wallsoff/results.txt

@@ -0,0 +1,10 @@
+Success rate (block-only): 88.0%
+n_envs:                    50
+run_name:                  pusht_dp_wallsoff
+mean_max_coverage:         0.7840  (DP-paper test/mean_score)
+mean_final_coverage:       0.7395  (end-step coverage)
+ttc_steps_mean:            218.73
+ttc_sim_time_s:            21.873  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     25.204  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+wall_time_s:               182.1

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_skip_wallsoff/meta.json

@@ -0,0 +1,115 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 489,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "pusht_wm/lewm"
+  },
+  "policy": {
+    "_target_": "policy.skip.PushTSkipPolicy",
+    "inner": {
+      "_target_": "policy.dp.DPPolicy",
+      "ckpt_path": "${diffusion.ckpt_path}",
+      "train_h5_path": "${diffusion.train_h5_path}",
+      "action_dim": "${diffusion.action_dim}",
+      "action_horizon": "${diffusion.horizon}",
+      "action_steps": "${diffusion.action_steps}",
+      "obs_steps": "${diffusion.obs_steps}",
+      "image_size": "${diffusion.image_size}",
+      "n_views": "${diffusion.n_views}",
+      "crop_shape": "${diffusion.crop_shape}",
+      "sample_steps": "${diffusion.sample_steps}",
+      "use_group_norm": "${diffusion.use_group_norm}",
+      "use_seq": "${diffusion.use_seq}",
+      "nn": "${diffusion.nn}"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "pusht_skip_wallsoff",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "pusht_skip",
+    "logs_subdir": "logs_sh_repro_wallsoff"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image_skip/pusht_sv_skip_chi_unet_ddpm_step50_h16_20260725_060205/42/models/model_final.pt",
+    "train_h5_path": "${STABLEWM_HOME}/datasets/expert_slow_025_n200_centered_v2_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 2,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 978,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "${task.dataset_name}",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ],
+    "save_traj": true
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_skip_wallsoff/results.txt

@@ -0,0 +1,10 @@
+Success rate (block-only): 64.0%
+n_envs:                    50
+run_name:                  pusht_skip_wallsoff
+mean_max_coverage:         0.5973  (DP-paper test/mean_score)
+mean_final_coverage:       0.5476  (end-step coverage)
+ttc_steps_mean:            187.22
+ttc_sim_time_s:            18.722  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     29.650  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+wall_time_s:               181.8

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_sup_paperhp/meta.json

@@ -0,0 +1,133 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 489,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "pusht_wm/lewm"
+  },
+  "policy": {
+    "_target_": "policy.sup_gated.SuPGatedDPPolicy",
+    "ckpt_path": "${diffusion.ckpt_path}",
+    "train_h5_path": "${diffusion.train_h5_path}",
+    "action_dim": "${diffusion.action_dim}",
+    "action_horizon": "${diffusion.horizon}",
+    "action_steps": "${diffusion.action_steps}",
+    "obs_steps": "${diffusion.obs_steps}",
+    "image_size": "${diffusion.image_size}",
+    "n_views": "${diffusion.n_views}",
+    "crop_shape": "${diffusion.crop_shape}",
+    "sample_steps": "${diffusion.sample_steps}",
+    "use_group_norm": "${diffusion.use_group_norm}",
+    "use_seq": "${diffusion.use_seq}",
+    "nn": "${diffusion.nn}",
+    "sup": {
+      "enabled": true,
+      "k_values": [
+        1,
+        2,
+        3,
+        4,
+        5,
+        6
+      ],
+      "fixed_k": 1,
+      "score_mode": "state_adm_iql",
+      "eps": 5.0,
+      "downsample_mode": "accumulate",
+      "gripper_dim": -1,
+      "sat_limit": 1000000000.0,
+      "log_decisions": true,
+      "channel": "full",
+      "adm_path": "${cache_dir}/pusht/sup/adm_B.pt",
+      "iql_path": "${cache_dir}/pusht/sup/iqlak_full_park_paper.pt"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "pusht_sup_paperhp",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "logs_sh_repro_wallsoff",
+    "logs_subdir": "logs_sh_repro_wallsoff"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image/dp_pusht_sv_image_park_plain_20260725_060028/42/models/model_final.pt",
+    "train_h5_path": "${cache_dir}/datasets/expert_slow_025_n200_centered_v2_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 2,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 978,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "${task.dataset_name}",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "save_traj": true,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ]
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_sup_paperhp/results.txt

@@ -0,0 +1,10 @@
+Success rate (block-only): 90.0%
+n_envs:                    50
+run_name:                  pusht_sup_paperhp
+mean_max_coverage:         0.8101  (DP-paper test/mean_score)
+mean_final_coverage:       0.7678  (end-step coverage)
+ttc_steps_mean:            97.56
+ttc_sim_time_s:            9.756  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     13.760  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+wall_time_s:               462.1

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_dp_wallsoff/meta.json

@@ -0,0 +1,113 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 594,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "slippery_pusht/lewm"
+  },
+  "policy": {
+    "_target_": "policy.dp.DPPolicy",
+    "ckpt_path": "${diffusion.ckpt_path}",
+    "train_h5_path": "${diffusion.train_h5_path}",
+    "action_dim": "${diffusion.action_dim}",
+    "action_horizon": "${diffusion.horizon}",
+    "action_steps": "${diffusion.action_steps}",
+    "obs_steps": "${diffusion.obs_steps}",
+    "image_size": "${diffusion.image_size}",
+    "n_views": "${diffusion.n_views}",
+    "crop_shape": "${diffusion.crop_shape}",
+    "sample_steps": "${diffusion.sample_steps}",
+    "use_group_norm": "${diffusion.use_group_norm}",
+    "use_seq": "${diffusion.use_seq}",
+    "nn": "${diffusion.nn}"
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "slippery_pusht_dp_wallsoff",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "slippery_pusht_dp_cd_v2_inproc",
+    "logs_subdir": "logs_sh_repro_wallsoff"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image/dp_pusht_sv_image_park_slip_20260725_060028/42/models/model_final.pt",
+    "train_h5_path": "${STABLEWM_HOME}/slippery_pusht/data/expert_slow_050_n200_d035_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 2,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 1188,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "damping": 0.35,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "slippery_pusht/data/expert_slow_050_n200_d035",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ],
+    "save_traj": true
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_dp_wallsoff/results.txt

@@ -0,0 +1,10 @@
+Success rate (block-only): 72.0%
+n_envs:                    50
+run_name:                  slippery_pusht_dp_wallsoff
+mean_max_coverage:         0.6902  (DP-paper test/mean_score)
+mean_final_coverage:       0.6100  (end-step coverage)
+ttc_steps_mean:            236.69
+ttc_sim_time_s:            23.669  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     33.746  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+wall_time_s:               220.7

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_skip_wallsoff/meta.json

@@ -0,0 +1,116 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 594,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "slippery_pusht/lewm"
+  },
+  "policy": {
+    "_target_": "policy.skip.PushTSkipPolicy",
+    "inner": {
+      "_target_": "policy.dp.DPPolicy",
+      "ckpt_path": "${diffusion.ckpt_path}",
+      "train_h5_path": "${diffusion.train_h5_path}",
+      "action_dim": "${diffusion.action_dim}",
+      "action_horizon": "${diffusion.horizon}",
+      "action_steps": "${diffusion.action_steps}",
+      "obs_steps": "${diffusion.obs_steps}",
+      "image_size": "${diffusion.image_size}",
+      "n_views": "${diffusion.n_views}",
+      "crop_shape": "${diffusion.crop_shape}",
+      "sample_steps": "${diffusion.sample_steps}",
+      "use_group_norm": "${diffusion.use_group_norm}",
+      "use_seq": "${diffusion.use_seq}",
+      "nn": "${diffusion.nn}"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "slippery_pusht_skip_wallsoff",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "slippery_pusht_skip",
+    "logs_subdir": "logs_sh_repro_wallsoff"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image_skip/pusht_sv_skip_chi_unet_ddpm_step50_h16_20260725_060606/42/models/model_final.pt",
+    "train_h5_path": "${STABLEWM_HOME}/slippery_pusht/data/expert_slow_050_n200_d035_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 2,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 1188,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "damping": 0.35,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "slippery_pusht/data/expert_slow_050_n200_d035",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ],
+    "save_traj": true
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_skip_wallsoff/results.txt

@@ -0,0 +1,10 @@
+Success rate (block-only): 32.0%
+n_envs:                    50
+run_name:                  slippery_pusht_skip_wallsoff
+mean_max_coverage:         0.4301  (DP-paper test/mean_score)
+mean_final_coverage:       0.1727  (end-step coverage)
+ttc_steps_mean:            186.94
+ttc_sim_time_s:            18.694  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     46.406  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+wall_time_s:               217.1

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/meta.json

@@ -0,0 +1,134 @@
+{
+  "task": {
+    "task_name": "pusht",
+    "env_name": "swm/PushT-v1",
+    "dataset_name": "expert_slow_025_n200_centered_v2",
+    "dataset_stats": "pusht/data/pusht_expert_train",
+    "num_eval": 50,
+    "eval_budget": 594,
+    "control_timestep_s": 0.1,
+    "metrics": {
+      "_target_": "policy._metrics.PushTCoverageMetrics",
+      "n_envs": "${task.num_eval}",
+      "eval_budget": "${eval.eval_budget}",
+      "control_timestep_s": "${task.control_timestep_s}"
+    },
+    "policy_config_group": "slippery_pusht/lewm"
+  },
+  "policy": {
+    "_target_": "policy.sup_gated.SuPGatedDPPolicy",
+    "ckpt_path": "${diffusion.ckpt_path}",
+    "train_h5_path": "${diffusion.train_h5_path}",
+    "action_dim": "${diffusion.action_dim}",
+    "action_horizon": "${diffusion.horizon}",
+    "action_steps": "${diffusion.action_steps}",
+    "obs_steps": "${diffusion.obs_steps}",
+    "image_size": "${diffusion.image_size}",
+    "n_views": "${diffusion.n_views}",
+    "crop_shape": "${diffusion.crop_shape}",
+    "sample_steps": "${diffusion.sample_steps}",
+    "use_group_norm": "${diffusion.use_group_norm}",
+    "use_seq": "${diffusion.use_seq}",
+    "nn": "${diffusion.nn}",
+    "sup": {
+      "enabled": true,
+      "k_values": [
+        1,
+        2,
+        3,
+        4,
+        5,
+        6
+      ],
+      "fixed_k": 1,
+      "score_mode": "state_adm_iql",
+      "eps": 5.0,
+      "downsample_mode": "accumulate",
+      "gripper_dim": -1,
+      "sat_limit": 1000000000.0,
+      "log_decisions": true,
+      "channel": "full",
+      "adm_path": "${cache_dir}/slippery_pusht/sup/adm_B.pt",
+      "iql_path": "${cache_dir}/slippery_pusht/sup/iqlak_full_park_paper.pt"
+    }
+  },
+  "seed": 42,
+  "cache_dir": "${oc.env:STABLEWM_HOME}",
+  "output": {
+    "run_name": "slippery_sup_paperhp_rel",
+    "findings_dir": "findings/260521_baseline_setup",
+    "logdir_subkey": "logs_sh_repro_wallsoff",
+    "logs_subdir": "logs_sh_repro_wallsoff"
+  },
+  "diffusion": {
+    "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image/dp_pusht_sv_image_park_slip_20260725_060028/42/models/model_final.pt",
+    "train_h5_path": "${cache_dir}/slippery_pusht/data/expert_slow_050_n200_d035_park.h5",
+    "nn": "chi_unet",
+    "horizon": 16,
+    "obs_steps": 2,
+    "action_steps": 8,
+    "action_dim": 2,
+    "image_size": 96,
+    "n_views": 1,
+    "crop_shape": [
+      84,
+      84
+    ],
+    "sample_steps": 50,
+    "use_group_norm": true,
+    "use_seq": true
+  },
+  "debug": {
+    "decoder_checkpoint": null
+  },
+  "plan_config": {
+    "horizon": 5,
+    "receding_horizon": 15,
+    "action_block": 1,
+    "use_past_context": true
+  },
+  "solver": {
+    "inner_solver": {
+      "physical_dim": 2,
+      "n_steps": 30
+    }
+  },
+  "world": {
+    "env_name": "${task.env_name}",
+    "num_envs": "${eval.num_eval}",
+    "max_episode_steps": 1188,
+    "history_size": 3,
+    "frame_skip": 1,
+    "resolution": 96,
+    "damping": 0.35,
+    "escapable_block": true
+  },
+  "dataset": {
+    "stats": "${task.dataset_stats}",
+    "keys_to_cache": [
+      "action",
+      "state"
+    ]
+  },
+  "full": true,
+  "eval": {
+    "num_eval": "${task.num_eval}",
+    "eval_budget": "${task.eval_budget}",
+    "dataset_name": "slippery_pusht/data/expert_slow_050_n200_d035",
+    "goal_offset_steps": 25,
+    "debug_video": false,
+    "img_size": 96,
+    "start_offset": 5,
+    "save_traj": true,
+    "callables": [
+      {
+        "method": "_set_state",
+        "args": {
+          "state": {
+            "value": "state"
+          }
+        }
+      }
+    ]
+  }
+}

published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/results.txt

@@ -0,0 +1,10 @@
+Success rate (block-only): 74.0%
+n_envs:                    50
+run_name:                  slippery_sup_paperhp_rel
+mean_max_coverage:         0.7380  (DP-paper test/mean_score)
+mean_final_coverage:       0.3627  (end-step coverage)
+ttc_steps_mean:            132.84
+ttc_sim_time_s:            13.284  (legacy: steps × recipe-dt)
+ttc_sim_time_actual_s:     25.348  (cumulative env dt — fair for SAIL)
+control_timestep_s:        0.10000  (recipe nominal)
+wall_time_s:               574.3