robot predictor fine-tune: GT round trip through the 217-cell representation

.gitattributes

@@ -256,3 +256,15 @@ robot_finetune/export_viz/pipe_task2_83abb3a9_train.jpg filter=lfs diff=lfs merg
 robot_finetune/export_viz/pipe_task3_725bee02_train.jpg filter=lfs diff=lfs merge=lfs -text
 robot_finetune/export_viz/pipe_task3_7aa8aeae_validation.jpg filter=lfs diff=lfs merge=lfs -text
 robot_finetune/export_viz/pipe_task4_8e47fe47_train.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_sv2_04ce61_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_sv2_4f7987_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task1_015f3a_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task1_7ef0d0_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task2_090ff2_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task2_542758_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task3_03152b_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task3_59b38f_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task4_02e5d7_left.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task4_02e5d7_right.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task4_6193bb_left.jpg filter=lfs diff=lfs merge=lfs -text
+robot_finetune/roundtrip/rt_task4_6193bb_right.jpg filter=lfs diff=lfs merge=lfs -text

robot_finetune/roundtrip/roundtrip.json

@@ -0,0 +1,374 @@
+[
+ {
+  "task": "sv2",
+  "uuid": "04ce61",
+  "hand": "right",
+  "frames": 300,
+  "active": 292,
+  "L1 grid": {
+   "energy": 0.9923593996369057,
+   "corr": 0.9989229785591137,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 0.9803460983219721,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": -0.23237654371963523,
+   "corr": 0.400581376729072,
+   "peak": 1.0,
+   "mass": 1.0893948378863914,
+   "iou": 0.18535640894820352,
+   "padsum_corr_median": 0.6371581434979756
+  },
+  "L3 +squash": {
+   "energy": -0.23238863691042821,
+   "corr": 0.4005812182052314,
+   "peak": 0.9997890347895304,
+   "mass": 1.0894146968772351,
+   "iou": 0.18535640894820352,
+   "padsum_corr_median": 0.6371938835324464
+  }
+ },
+ {
+  "task": "sv2",
+  "uuid": "4f7987",
+  "hand": "right",
+  "frames": 300,
+  "active": 138,
+  "L1 grid": {
+   "energy": 0.5571687796783511,
+   "corr": 0.8765649917685447,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 0.9228163342293776,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": -0.00868375483797501,
+   "corr": 0.07516721141463209,
+   "peak": 0.054518080385848114,
+   "mass": 0.4618396053843153,
+   "iou": 0.09971208340773559,
+   "padsum_corr_median": 0.6272750029664449
+  },
+  "L3 +squash": {
+   "energy": -0.008691053582213337,
+   "corr": 0.07516653616888692,
+   "peak": 0.05452686225641748,
+   "mass": 0.46186394472177505,
+   "iou": 0.09971208340773559,
+   "padsum_corr_median": 0.6272834483448873
+  }
+ },
+ {
+  "task": "task1",
+  "uuid": "015f3a",
+  "hand": "right",
+  "frames": 300,
+  "active": 83,
+  "L1 grid": {
+   "energy": 1.0,
+   "corr": 1.0,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 1.0,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": -0.16501111089023124,
+   "corr": 0.2586184853987162,
+   "peak": 0.4144837591688925,
+   "mass": 0.9171847772447081,
+   "iou": 0.1631276584315309,
+   "padsum_corr_median": 0.976092132967774
+  },
+  "L3 +squash": {
+   "energy": -0.14986705203069928,
+   "corr": 0.2570319953756855,
+   "peak": 0.40489803879799446,
+   "mass": 0.8995736543930941,
+   "iou": 0.1631276584315309,
+   "padsum_corr_median": 0.9760921367818716
+  }
+ },
+ {
+  "task": "task1",
+  "uuid": "7ef0d0",
+  "hand": "right",
+  "frames": 300,
+  "active": 117,
+  "L1 grid": {
+   "energy": 0.9996813423387086,
+   "corr": 0.9998083261245018,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 0.9990503323836657,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": -0.08570104893319153,
+   "corr": 0.14849770937122675,
+   "peak": 0.2782779187007134,
+   "mass": 0.568297942940399,
+   "iou": 0.11089595202383291,
+   "padsum_corr_median": 0.9212280681220316
+  },
+  "L3 +squash": {
+   "energy": -0.07916554115062313,
+   "corr": 0.14743675520284022,
+   "peak": 0.27819705282030693,
+   "mass": 0.5584503572706965,
+   "iou": 0.11089595202383291,
+   "padsum_corr_median": 0.970617972986828
+  }
+ },
+ {
+  "task": "task2",
+  "uuid": "090ff2",
+  "hand": "right",
+  "frames": 300,
+  "active": 114,
+  "L1 grid": {
+   "energy": 0.979548625836317,
+   "corr": 0.9921698762414168,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 0.9725250593220947,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": 0.1506767817373933,
+   "corr": 0.32818699295253234,
+   "peak": 0.2732513037533837,
+   "mass": 0.6684890707700665,
+   "iou": 0.18558540887716496,
+   "padsum_corr_median": 0.9210599019429686
+  },
+  "L3 +squash": {
+   "energy": 0.15069377498241332,
+   "corr": 0.3281938488160036,
+   "peak": 0.27320979042054366,
+   "mass": 0.6684723372410363,
+   "iou": 0.18558540887716496,
+   "padsum_corr_median": 0.9210604044451534
+  }
+ },
+ {
+  "task": "task2",
+  "uuid": "542758",
+  "hand": "right",
+  "frames": 300,
+  "active": 173,
+  "L1 grid": {
+   "energy": 0.9237675352427908,
+   "corr": 0.9868552037178989,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 0.9762283905194223,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": -0.14079742795234496,
+   "corr": 0.20150813292843364,
+   "peak": 0.1486950624200478,
+   "mass": 0.7794514991398421,
+   "iou": 0.0940421308460758,
+   "padsum_corr_median": 0.9075523444874657
+  },
+  "L3 +squash": {
+   "energy": -0.1377898451358477,
+   "corr": 0.19967530273602613,
+   "peak": 0.1487159280214432,
+   "mass": 0.7648520553088052,
+   "iou": 0.0940421308460758,
+   "padsum_corr_median": 0.9075493147323221
+  }
+ },
+ {
+  "task": "task3",
+  "uuid": "03152b",
+  "hand": "right",
+  "frames": 300,
+  "active": 168,
+  "L1 grid": {
+   "energy": 1.0,
+   "corr": 1.0,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 1.0,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": 0.05467370465011745,
+   "corr": 0.2797086280485675,
+   "peak": 0.19609576011777638,
+   "mass": 0.5681072421707876,
+   "iou": 0.07018519600117888,
+   "padsum_corr_median": 0.7173043611871237
+  },
+  "L3 +squash": {
+   "energy": 0.054676901481342854,
+   "corr": 0.27970735589806245,
+   "peak": 0.19608990696107628,
+   "mass": 0.5680931169659376,
+   "iou": 0.07018519600117888,
+   "padsum_corr_median": 0.7173013256218762
+  }
+ },
+ {
+  "task": "task3",
+  "uuid": "59b38f",
+  "hand": "right",
+  "frames": 300,
+  "active": 162,
+  "L1 grid": {
+   "energy": 1.0,
+   "corr": 1.0,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 1.0,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": 0.053182380541587304,
+   "corr": 0.22998127426776888,
+   "peak": 0.07843993838617236,
+   "mass": 0.45934037332718575,
+   "iou": 0.09941050409786531,
+   "padsum_corr_median": 0.2873914078464789
+  },
+  "L3 +squash": {
+   "energy": 0.05277789279402845,
+   "corr": 0.22948756919617821,
+   "peak": 0.07844545978363174,
+   "mass": 0.4567670745798631,
+   "iou": 0.09941050409786531,
+   "padsum_corr_median": 0.2873915378203749
+  }
+ },
+ {
+  "task": "task4",
+  "uuid": "02e5d7",
+  "hand": "right",
+  "frames": 300,
+  "active": 225,
+  "L1 grid": {
+   "energy": 1.0,
+   "corr": 1.0,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 1.0,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": -0.1299228400826662,
+   "corr": 0.005567284664266044,
+   "peak": 0.029742865558134712,
+   "mass": 0.11568356808980332,
+   "iou": 0.005931216931216931,
+   "padsum_corr_median": 0.5292241433441375
+  },
+  "L3 +squash": {
+   "energy": -0.13017227706194978,
+   "corr": 0.005567330786903568,
+   "peak": 0.02974489895381785,
+   "mass": 0.11570544587793745,
+   "iou": 0.005931216931216931,
+   "padsum_corr_median": 0.5291902624734499
+  }
+ },
+ {
+  "task": "task4",
+  "uuid": "02e5d7",
+  "hand": "left",
+  "frames": 300,
+  "active": 299,
+  "L1 grid": {
+   "energy": 1.0,
+   "corr": 1.0,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 1.0,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": 0.1921853661636833,
+   "corr": 0.7189134490949737,
+   "peak": 1.0,
+   "mass": 1.0757029135593044,
+   "iou": 0.519257053175293,
+   "padsum_corr_median": 0.9095202805346438
+  },
+  "L3 +squash": {
+   "energy": 0.1941169372812831,
+   "corr": 0.718904615681007,
+   "peak": 0.9998122253236038,
+   "mass": 1.074898219174256,
+   "iou": 0.519257053175293,
+   "padsum_corr_median": 0.9095887613432854
+  }
+ },
+ {
+  "task": "task4",
+  "uuid": "6193bb",
+  "hand": "right",
+  "frames": 300,
+  "active": 280,
+  "L1 grid": {
+   "energy": 1.0,
+   "corr": 1.0,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 1.0,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": -0.0719918444158536,
+   "corr": 0.18176483180880912,
+   "peak": 0.2665113001550046,
+   "mass": 0.5500339130257454,
+   "iou": 0.12393878056695468,
+   "padsum_corr_median": 0.5479952433776161
+  },
+  "L3 +squash": {
+   "energy": -0.07200505603904417,
+   "corr": 0.18176455069563877,
+   "peak": 0.26658551604180036,
+   "mass": 0.5500657226171922,
+   "iou": 0.12393878056695468,
+   "padsum_corr_median": 0.5480025835697538
+  }
+ },
+ {
+  "task": "task4",
+  "uuid": "6193bb",
+  "hand": "left",
+  "frames": 300,
+  "active": 294,
+  "L1 grid": {
+   "energy": 1.0,
+   "corr": 1.0,
+   "peak": 1.0,
+   "mass": 1.0,
+   "iou": 1.0,
+   "padsum_corr_median": 1.0
+  },
+  "L2 217 cells": {
+   "energy": 0.32343291595056534,
+   "corr": 0.5669539020259439,
+   "peak": 1.0,
+   "mass": 0.7061959969635672,
+   "iou": 0.38353075619047217,
+   "padsum_corr_median": 0.9389333356358538
+  },
+  "L3 +squash": {
+   "energy": 0.33355904873962816,
+   "corr": 0.5669584070696521,
+   "peak": 0.9994292898523615,
+   "mass": 0.7040963888619569,
+   "iou": 0.38353075619047217,
+   "padsum_corr_median": 0.9417767967488145
+  }
+ }
+]

robot_finetune/roundtrip/roundtrip.md

@@ -0,0 +1,28 @@
+| task | glove | level | eps | active frames | energy retained | per-frame corr | peak ratio (median) | mass ratio | contact IoU | pad-sum corr |
+|---|---|---|---|---|---|---|---|---|---|---|
+| sv2 | right | L1 grid | 2 | 430 | 0.775 | 0.938 | 1.00 | 1.00 | 0.952 | 1.000 |
+| sv2 | right | L2 217 cells | 2 | 430 | -0.121 | 0.238 | 0.53 | 0.78 | 0.143 | 0.632 |
+| sv2 | right | L3 +squash | 2 | 430 | -0.121 | 0.238 | 0.53 | 0.78 | 0.143 | 0.632 |
+| task1 | right | L1 grid | 2 | 200 | 1.000 | 1.000 | 1.00 | 1.00 | 1.000 | 1.000 |
+| task1 | right | L2 217 cells | 2 | 200 | -0.125 | 0.204 | 0.35 | 0.74 | 0.137 | 0.949 |
+| task1 | right | L3 +squash | 2 | 200 | -0.115 | 0.202 | 0.34 | 0.73 | 0.137 | 0.973 |
+| task2 | right | L1 grid | 2 | 287 | 0.952 | 0.990 | 1.00 | 1.00 | 0.974 | 1.000 |
+| task2 | right | L2 217 cells | 2 | 287 | 0.005 | 0.265 | 0.21 | 0.72 | 0.140 | 0.914 |
+| task2 | right | L3 +squash | 2 | 287 | 0.006 | 0.264 | 0.21 | 0.72 | 0.140 | 0.914 |
+| task3 | right | L1 grid | 2 | 330 | 1.000 | 1.000 | 1.00 | 1.00 | 1.000 | 1.000 |
+| task3 | right | L2 217 cells | 2 | 330 | 0.054 | 0.255 | 0.14 | 0.51 | 0.085 | 0.502 |
+| task3 | right | L3 +squash | 2 | 330 | 0.054 | 0.255 | 0.14 | 0.51 | 0.085 | 0.502 |
+| task4 | left | L1 grid | 2 | 593 | 1.000 | 1.000 | 1.00 | 1.00 | 1.000 | 1.000 |
+| task4 | left | L2 217 cells | 2 | 593 | 0.258 | 0.643 | 1.00 | 0.89 | 0.451 | 0.924 |
+| task4 | left | L3 +squash | 2 | 593 | 0.264 | 0.643 | 1.00 | 0.89 | 0.451 | 0.926 |
+| task4 | right | L1 grid | 2 | 505 | 1.000 | 1.000 | 1.00 | 1.00 | 1.000 | 1.000 |
+| task4 | right | L2 217 cells | 2 | 505 | -0.101 | 0.094 | 0.15 | 0.33 | 0.065 | 0.539 |
+| task4 | right | L3 +squash | 2 | 505 | -0.101 | 0.094 | 0.15 | 0.33 | 0.065 | 0.539 |
+
+Per-pad energy retained at L2 (mean over episodes; blank = pad never active):
+
+| glove | pad0 | pad1 | pad2 | pad3 | pad4 | pad5 | pad7 | pad8 | pad9 | pad11 | pad12 | pad13 | pad15 | pad16 | pad18 |
+|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
+| single_R | 0.01 |  | 0.02 | -0.55 | -0.11 |  | -0.32 | 0.09 | -0.06 | -0.09 |  | -0.16 | -0.15 | 0.20 | 0.28 |
+| task4_L |  |  | 0.00 | -0.05 | 0.00 |  | -0.11 |  | 0.00 | -0.04 | -0.93 | -0.08 | 0.01 |  | 0.52 |
+| task4_R |  |  | -0.00 | -1.14 | 0.00 |  | -0.15 |  | -0.00 | -0.01 |  | 0.00 | -0.41 | 0.03 |  |