{
 "prereg": "posts/2026-08-11-prereg-sim-policy-eval-100seeds.md",
 "n_seeds": 100,
 "configs": {
  "er60k": {
   "checkpoint": "/home/ubuntu/checkpoints/er_60k/fontaine_molmo2_er_60k_ddp4/step_060000",
   "hold": false,
   "seed": 0,
   "num_seeds": 100,
   "replans": 30,
   "execute_horizon": 30,
   "sample_steps": 10,
   "expert_dtype": "bfloat16",
   "control_hz": 30,
   "task": "Pick up the toy boat and place it on the wooden disk.",
   "stats_repo_id": "mcobzarenco/so101_pick_place_v2",
   "commit": "8fc486d"
  },
  "hold": {
   "checkpoint": null,
   "hold": true,
   "seed": 0,
   "num_seeds": 100,
   "replans": 30,
   "execute_horizon": 30,
   "sample_steps": 10,
   "expert_dtype": "bfloat16",
   "control_hz": 30,
   "task": "Pick up the toy boat and place it on the wooden disk.",
   "stats_repo_id": "mcobzarenco/so101_pick_place_v2",
   "commit": "8fc486d"
  },
  "ftrig4k": {
   "checkpoint": "outputs/train/fontaine_flow_snapdistill_ftrig_4k_1xh100/step_004000",
   "hold": false,
   "seed": 0,
   "num_seeds": 100,
   "replans": 30,
   "execute_horizon": 30,
   "sample_steps": 1,
   "method": "euler",
   "expert_dtype": "bfloat16",
   "control_hz": 30,
   "task": "Pick up the toy boat and place it on the wooden disk.",
   "stats_repo_id": "mcobzarenco/so101_pick_place_v2",
   "commit": "5b4a817"
  },
  "snap30k": {
   "checkpoint": "outputs/train/fontaine_flow_snapdistill_h1024_30k_1xh100/step_030000",
   "hold": false,
   "seed": 0,
   "num_seeds": 100,
   "replans": 30,
   "execute_horizon": 30,
   "sample_steps": 1,
   "method": "euler",
   "expert_dtype": "bfloat16",
   "control_hz": 30,
   "task": "Pick up the toy boat and place it on the wooden disk.",
   "stats_repo_id": "mcobzarenco/so101_pick_place_v2",
   "commit": "551e092"
  },
  "teacher80k": {
   "checkpoint": "outputs/train/bijou_flow_artrunk_h1024_40k_ddp2/step_080000",
   "hold": false,
   "seed": 0,
   "num_seeds": 100,
   "replans": 30,
   "execute_horizon": 30,
   "sample_steps": 30,
   "method": "heun",
   "expert_dtype": "bfloat16",
   "control_hz": 30,
   "task": "Pick up the toy boat and place it on the wooden disk.",
   "stats_repo_id": "mcobzarenco/so101_pick_place_v2",
   "commit": "9de4719"
  }
 },
 "gates": {
  "reset_strikes_total": 0,
  "reset_strikes_gate": true,
  "hold_floor_cm": -0.0,
  "hold_floor_gate": true
 },
 "summary": {
  "er60k": {
   "mean_progress_final_cm": -0.0288,
   "median_progress_final_cm": -0.0,
   "mean_progress_min_cm": 0.0183,
   "success_rate": 0.0,
   "median_success_tick": null,
   "median_latency_ms": 423.0,
   "panel_mae": 5.7782
  },
  "hold": {
   "mean_progress_final_cm": -0.0,
   "median_progress_final_cm": -0.0,
   "mean_progress_min_cm": 0.0001,
   "success_rate": 0.0,
   "median_success_tick": null,
   "median_latency_ms": null,
   "panel_mae": null
  },
  "ftrig4k": {
   "mean_progress_final_cm": 0.0819,
   "median_progress_final_cm": 0.0076,
   "mean_progress_min_cm": 0.5153,
   "success_rate": 0.0,
   "median_success_tick": null,
   "median_latency_ms": 62.7,
   "panel_mae": null
  },
  "snap30k": {
   "mean_progress_final_cm": -0.1168,
   "median_progress_final_cm": 0.0,
   "mean_progress_min_cm": 0.3277,
   "success_rate": 0.0,
   "median_success_tick": null,
   "median_latency_ms": 65.2,
   "panel_mae": null
  },
  "teacher80k": {
   "mean_progress_final_cm": -0.729,
   "median_progress_final_cm": -0.0411,
   "mean_progress_min_cm": 0.5809,
   "success_rate": 0.0,
   "median_success_tick": null,
   "median_latency_ms": 1182.7,
   "panel_mae": null
  }
 },
 "paired": {
  "er60k_minus_hold": {
   "mean_delta_cm": -0.0288,
   "ci95": [
    -0.0882,
    0.014
   ],
   "ci_excludes_zero": false,
   "win_rate": 0.07
  },
  "ftrig4k_minus_hold": {
   "mean_delta_cm": 0.0819,
   "ci95": [
    -0.1674,
    0.3195
   ],
   "ci_excludes_zero": false,
   "win_rate": 0.52
  },
  "snap30k_minus_hold": {
   "mean_delta_cm": -0.1167,
   "ci95": [
    -0.3668,
    0.0985
   ],
   "ci_excludes_zero": false,
   "win_rate": 0.46
  },
  "teacher80k_minus_hold": {
   "mean_delta_cm": -0.729,
   "ci95": [
    -1.1787,
    -0.3373
   ],
   "ci_excludes_zero": true,
   "win_rate": 0.31
  },
  "ftrig4k_minus_er60k": {
   "mean_delta_cm": 0.1107,
   "ci95": [
    -0.1457,
    0.3581
   ],
   "ci_excludes_zero": false,
   "win_rate": 0.53
  },
  "snap30k_minus_er60k": {
   "mean_delta_cm": -0.088,
   "ci95": [
    -0.342,
    0.1351
   ],
   "ci_excludes_zero": false,
   "win_rate": 0.45
  },
  "teacher80k_minus_er60k": {
   "mean_delta_cm": -0.7002,
   "ci95": [
    -1.16,
    -0.2922
   ],
   "ci_excludes_zero": true,
   "win_rate": 0.3
  }
 },
 "ordering": {
  "skipped": "only ['er60k'] present \u2014 no pairs to rank"
 }
}