Scheduled Commit

ablation_runs/openloop_compare/summary.json

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+   "hand_left@k8": 0.2989886106253801,
+   "hand_left@k15": 0.24366812226662982,
+   "hand_left_curve": [
+    0.22248021402074059,
+    0.28637093617812176,
+    0.3236922776317041,
+    0.32469278030348536,
+    0.25983361147291933,
+    0.2982555069174659,
+    0.30784063027403175,
+    0.27699778381134055,
+    0.2989886106253803,
+    0.288825513097928,
+    0.31165823356317596,
+    0.3130093699737918,
+    0.3502016864548176,
+    0.3020349532032962,
+    0.2847392213472687,
+    0.2436681222666299
+   ],
+   "hand_right": 0.27991120828977073,
+   "hand_right@k0": 0.3004360790617549,
+   "hand_right@k8": 0.29026335633527384,
+   "hand_right@k15": 0.2830874723782278,
+   "hand_right_curve": [
+    0.3004360790617549,
+    0.2750172389679338,
+    0.3132995775085938,
+    0.2801199815783285,
+    0.3015318385441197,
+    0.2641029691827062,
+    0.27214297303501633,
+    0.285012650276982,
+    0.2902633563352739,
+    0.24900444331072016,
+    0.2280721604535111,
+    0.2700458279935105,
+    0.28833045500911536,
+    0.25597597629640684,
+    0.32213633270413017,
+    0.2830874723782278
+   ],
+   "sec_per_anchor": 1.315473945462145,
+   "arm_joint_rmse_rad": 0.18840544938462603
+  }
+ },
+ "comparisons": {
+  "RAPTOR cascade - DreamZero": {
+   "pos": {
+    "mean": -0.09490478603222312,
+    "sem": 0.0023832108033045108,
+    "win_rate_a": 0.9895833333333334,
+    "unit": "m"
+   },
+   "rot": {
+    "mean": -19.696916738514705,
+    "sem": 0.4593262591522267,
+    "win_rate_a": 1.0,
+    "unit": "deg"
+   },
+   "hand": {
+    "mean": -0.24217106698473836,
+    "sem": 0.002163709324781169,
+    "win_rate_a": 1.0,
+    "unit": "rad"
+   }
+  },
+  "RAPTOR cascade - RAPTOR coarse_only": {
+   "pos": {
+    "mean": -0.01359233009773291,
+    "sem": 0.00036752640223892865,
+    "win_rate_a": 0.9895833333333334,
+    "unit": "m"
+   },
+   "rot": {
+    "mean": -4.506501192463907,
+    "sem": 0.12539111857186058,
+    "win_rate_a": 1.0,
+    "unit": "deg"
+   },
+   "hand": {
+    "mean": -0.1694770000700981,
+    "sem": 0.0017548573787319287,
+    "win_rate_a": 1.0,
+    "unit": "rad"
+   }
+  },
+  "RAPTOR coarse_only - DreamZero": {
+   "pos": {
+    "mean": -0.08131245593449019,
+    "sem": 0.002285913545882477,
+    "win_rate_a": 0.9895833333333334,
+    "unit": "m"
+   },
+   "rot": {
+    "mean": -15.1904155460508,
+    "sem": 0.42696703722282914,
+    "win_rate_a": 1.0,
+    "unit": "deg"
+   },
+   "hand": {
+    "mean": -0.07269406691464024,
+    "sem": 0.0027234703127396206,
+    "win_rate_a": 1.0,
+    "unit": "rad"
+   }
+  }
+ },
+ "n_anchors": 96,
+ "n_episodes": 12
+}

ablation_runs/openloop_compare/summary.md

@@ -0,0 +1,19 @@
+# Open-loop comparison on ablation_runs/openloop_compare
+
+96 anchors from 12 episodes of trex_small_force; 16-step (0.8 s, 20 Hz) chunk; one conditioning frame per camera.
+
+| model | EEF pos err [cm] | EEF rot err [deg] | hand RMSE [rad] | pos@0.05s | pos@0.45s | pos@0.8s | hand@0.05s | hand@0.8s | s/anchor |
+|---|---|---|---|---|---|---|---|---|---|
+| RAPTOR cascade | 2.04 | 6.15 | 0.0444 | 1.35 | 2.08 | 2.74 | 0.0416 | 0.0492 | 1.2 |
+| RAPTOR coarse_only | 3.40 | 10.66 | 0.2139 | 3.00 | 3.43 | 3.87 | 0.2161 | 0.2159 | 1.2 |
+| DreamZero | 11.53 | 25.85 | 0.2866 | 11.91 | 11.26 | 12.94 | 0.2615 | 0.2634 | 1.3 |
+
+Paired differences over anchors (negative = first model better):
+
+- **RAPTOR cascade - DreamZero**: pos: -9.490 ± 0.238 cm (first better on 99% of anchors); rot: -19.697 ± 0.459 deg (first better on 100% of anchors); hand: -0.242 ± 0.002 rad (first better on 100% of anchors)
+- **RAPTOR cascade - RAPTOR coarse_only**: pos: -1.359 ± 0.037 cm (first better on 99% of anchors); rot: -4.507 ± 0.125 deg (first better on 100% of anchors); hand: -0.169 ± 0.002 rad (first better on 100% of anchors)
+- **RAPTOR coarse_only - DreamZero**: pos: -8.131 ± 0.229 cm (first better on 99% of anchors); rot: -15.190 ± 0.427 deg (first better on 100% of anchors); hand: -0.073 ± 0.003 rad (first better on 100% of anchors)
+
+DreamZero arm error in its own joint space: 0.1884 rad RMSE (reference only).
+
+Caveat: both checkpoints saw these episodes in training (trex_small is a subset of trex_full); this measures fit on the training distribution, not generalization.