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      "tail": "  4.01it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:04<00:01,  4.00it/s]\u001b[A\n\nSampling:  80%|████████  | 20/25 [00:04<00:01,  4.71it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:04<00:00,  5.37it/s]\u001b[A\n\nSampling:  88%|████████▊ | 22/25 [00:05<00:00,  5.96it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:05<00:00,  6.46it/s]\u001b[A\n\nSampling:  96%|█████████▌| 24/25 [00:05<00:00,  6.86it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:05<00:00,  7.17it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:05<00:00,  4.55it/s]\n\n 80%|████████  | 4/5 [00:43<00:12, 12.46s/it]\u001b[31mMean feature regression averaging over 20 steps\u001b[0m\nWarning: Feature dimensions mismatch. Using 8 dimensions for normalization\nis_postprocessing_arti_info: True\nis_postprocessing_arti_info: True\nProcessing batch  4\n\n\nSampling:   0%|          | 0/25 [00:00<?, ?it/s]\u001b[A\n\nSampling:   4%|▍         | 1/25 [00:00<00:04,  5.84it/s]\u001b[A\n\nSampling:   8%|▊         | 2/25 [00:00<00:03,  5.90it/s]\u001b[A\n\nSampling:  12%|█▏        | 3/25 [00:00<00:03,  5.93it/s]\u001b[A\n\nSampling:  16%|█▌        | 4/25 [00:00<00:03,  5.94it/s]\u001b[A\n\nSampling:  20%|██        | 5/25 [00:00<00:03,  5.93it/s]\u001b[A\n\nSampling:  24%|██▍       | 6/25 [00:01<00:03,  5.89it/s]\u001b[A\n\nSampling:  28%|██▊       | 7/25 [00:01<00:03,  5.89it/s]\u001b[A\n\nSampling:  32%|███▏      | 8/25 [00:01<00:02,  5.89it/s]\u001b[A\n\nSampling:  36%|███▌      | 9/25 [00:01<00:02,  5.89it/s]\u001b[A\n\nSampling:  40%|████      | 10/25 [00:01<00:02,  5.91it/s]\u001b[A\n\nSampling:  44%|████▍     | 11/25 [00:01<00:02,  5.91it/s]\u001b[A\n\nSampling:  48%|████▊     | 12/25 [00:02<00:02,  5.89it/s]\u001b[A\n\nSampling:  52%|█████▏    | 13/25 [00:02<00:02,  5.89it/s]\u001b[A\n\nSampling:  56%|█████▌    | 14/25 [00:02<00:01,  5.90it/s]\u001b[A\n\nSampling:  60%|██████    | 15/25 [00:02<00:01,  5.87it/s]\u001b[A\n\nSampling:  64%|██████▍   | 16/25 [00:02<00:01,  5.89it/s]\u001b[A\n\nSampling:  68%|██████▊   | 17/25 [00:02<00:01,  5.89it/s]\u001b[A\n\nSampling:  72%|███████▏  | 18/25 [00:03<00:01,  5.88it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:03<00:01,  5.89it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:03<00:00,  7.66it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:03<00:00,  8.90it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:03<00:00,  9.75it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:03<00:00,  6.70it/s]\n\n\nSampling:   0%|          | 0/25 [00:00<?, ?it/s]\u001b[A\n\nSampling:   4%|▍         | 1/25 [00:00<00:03,  6.56it/s]\u001b[A\n\nSampling:   8%|▊         | 2/25 [00:00<00:03,  6.74it/s]\u001b[A\n\nSampling:  12%|█▏        | 3/25 [00:00<00:03,  6.80it/s]\u001b[A\n\nSampling:  16%|█▌        | 4/25 [00:00<00:03,  6.83it/s]\u001b[A\n\nSampling:  20%|██        | 5/25 [00:00<00:02,  6.85it/s]\u001b[A\n\nSampling:  24%|██▍       | 6/25 [00:00<00:02,  6.86it/s]\u001b[A\n\nSampling:  28%|██▊       | 7/25 [00:01<00:02,  6.87it/s]\u001b[A\n\nSampling:  32%|███▏      | 8/25 [00:01<00:02,  6.85it/s]\u001b[A\n\nSampling:  36%|███▌      | 9/25 [00:01<00:02,  6.84it/s]\u001b[A\n\nSampling:  40%|████      | 10/25 [00:01<00:02,  6.80it/s]\u001b[A\n\nSampling:  44%|████▍     | 11/25 [00:01<00:02,  6.83it/s]\u001b[A\n\nSampling:  48%|████▊     | 12/25 [00:01<00:01,  6.84it/s]\u001b[A\n\nSampling:  52%|█████▏    | 13/25 [00:01<00:01,  6.86it/s]\u001b[A\n\nSampling:  56%|█████▌    | 14/25 [00:02<00:01,  6.87it/s]\u001b[A\n\nSampling:  60%|██████    | 15/25 [00:02<00:01,  6.88it/s]\u001b[A\n\nSampling:  64%|██████▍   | 16/25 [00:02<00:01,  6.88it/s]\u001b[A\n\nSampling:  68%|██████▊   | 17/25 [00:02<00:01,  6.88it/s]\u001b[A\n\nSampling:  72%|███████▏  | 18/25 [00:02<00:01,  6.89it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:02<00:00,  6.89it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:02<00:00,  8.95it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:03<00:00, 10.40it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:03<00:00, 11.40it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:03<00:00,  7.79it/s]\n\n100%|██████████| 5/5 [00:52<00:00, 11.09s/it]\n100%|██████████| 5/5 [00:52<00:00, 10.40s/it]\n\u001b[31mMean feature regression averaging over 20 steps\u001b[0m\nWarning: Feature dimensions mismatch. Using 8 dimensions for normalization\nis_postprocessing_arti_info: True\nis_postprocessing_arti_info: True\n"
    },
    {
      "variant": "phase2_mask_dropout",
      "ok": true,
      "runtime_seconds": 122.8800597190857,
      "tail": "\nSampling:  88%|████████▊ | 22/25 [00:04<00:00,  6.66it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:04<00:00,  7.21it/s]\u001b[A\n\nSampling:  96%|█████████▌| 24/25 [00:04<00:00,  7.65it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:04<00:00,  7.99it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:04<00:00,  5.08it/s]\n\n 80%|████████  | 4/5 [00:45<00:12, 12.99s/it]\u001b[31mMean feature regression averaging over 20 steps\u001b[0m\nWarning: Feature dimensions mismatch. Using 8 dimensions for normalization\nis_postprocessing_arti_info: True\nis_postprocessing_arti_info: True\nProcessing batch  4\n\n\nSampling:   0%|          | 0/25 [00:00<?, ?it/s]\u001b[A\n\nSampling:   4%|▍         | 1/25 [00:00<00:04,  5.47it/s]\u001b[A\n\nSampling:   8%|▊         | 2/25 [00:00<00:04,  5.38it/s]\u001b[A\n\nSampling:  12%|█▏        | 3/25 [00:00<00:04,  5.37it/s]\u001b[A\n\nSampling:  16%|█▌        | 4/25 [00:00<00:03,  5.37it/s]\u001b[A\n\nSampling:  20%|██        | 5/25 [00:00<00:03,  5.36it/s]\u001b[A\n\nSampling:  24%|██▍       | 6/25 [00:01<00:03,  5.35it/s]\u001b[A\n\nSampling:  28%|██▊       | 7/25 [00:01<00:03,  5.35it/s]\u001b[A\n\nSampling:  32%|███▏      | 8/25 [00:01<00:03,  5.35it/s]\u001b[A\n\nSampling:  36%|███▌      | 9/25 [00:01<00:02,  5.35it/s]\u001b[A\n\nSampling:  40%|████      | 10/25 [00:01<00:02,  5.35it/s]\u001b[A\n\nSampling:  44%|████▍     | 11/25 [00:02<00:02,  5.35it/s]\u001b[A\n\nSampling:  48%|████▊     | 12/25 [00:02<00:02,  5.35it/s]\u001b[A\n\nSampling:  52%|█████▏    | 13/25 [00:02<00:02,  5.23it/s]\u001b[A\n\nSampling:  56%|█████▌    | 14/25 [00:02<00:02,  5.26it/s]\u001b[A\n\nSampling:  60%|██████    | 15/25 [00:02<00:01,  5.28it/s]\u001b[A\n\nSampling:  64%|██████▍   | 16/25 [00:03<00:01,  5.30it/s]\u001b[A\n\nSampling:  68%|██████▊   | 17/25 [00:03<00:01,  5.31it/s]\u001b[A\n\nSampling:  72%|███████▏  | 18/25 [00:03<00:01,  5.32it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:03<00:01,  5.33it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:03<00:00,  6.93it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:03<00:00,  8.06it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:04<00:00,  8.84it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:04<00:00,  6.06it/s]\n\n\nSampling:   0%|          | 0/25 [00:00<?, ?it/s]\u001b[A\n\nSampling:   4%|▍         | 1/25 [00:00<00:03,  6.46it/s]\u001b[A\n\nSampling:   8%|▊         | 2/25 [00:00<00:03,  6.51it/s]\u001b[A\n\nSampling:  12%|█▏        | 3/25 [00:00<00:03,  6.52it/s]\u001b[A\n\nSampling:  16%|█▌        | 4/25 [00:00<00:03,  6.53it/s]\u001b[A\n\nSampling:  20%|██        | 5/25 [00:00<00:03,  6.54it/s]\u001b[A\n\nSampling:  24%|██▍       | 6/25 [00:00<00:02,  6.54it/s]\u001b[A\n\nSampling:  28%|██▊       | 7/25 [00:01<00:02,  6.52it/s]\u001b[A\n\nSampling:  32%|███▏      | 8/25 [00:01<00:02,  6.53it/s]\u001b[A\n\nSampling:  36%|███▌      | 9/25 [00:01<00:02,  6.52it/s]\u001b[A\n\nSampling:  40%|████      | 10/25 [00:01<00:02,  6.52it/s]\u001b[A\n\nSampling:  44%|████▍     | 11/25 [00:01<00:02,  6.53it/s]\u001b[A\n\nSampling:  48%|████▊     | 12/25 [00:01<00:01,  6.54it/s]\u001b[A\n\nSampling:  52%|█████▏    | 13/25 [00:01<00:01,  6.54it/s]\u001b[A\n\nSampling:  56%|█████▌    | 14/25 [00:02<00:01,  6.54it/s]\u001b[A\n\nSampling:  60%|██████    | 15/25 [00:02<00:01,  6.54it/s]\u001b[A\n\nSampling:  64%|██████▍   | 16/25 [00:02<00:01,  6.55it/s]\u001b[A\n\nSampling:  68%|██████▊   | 17/25 [00:02<00:01,  6.55it/s]\u001b[A\n\nSampling:  72%|███████▏  | 18/25 [00:02<00:01,  6.49it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:02<00:00,  6.51it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:03<00:00,  8.47it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:03<00:00,  9.84it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:03<00:00, 10.81it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:03<00:00,  7.42it/s]\n\n100%|██████████| 5/5 [00:54<00:00, 11.68s/it]\n100%|██████████| 5/5 [00:54<00:00, 10.97s/it]\n\u001b[31mMean feature regression averaging over 20 steps\u001b[0m\nWarning: Feature dimensions mismatch. Using 8 dimensions for normalization\nis_postprocessing_arti_info: True\nis_postprocessing_arti_info: True\n[OT inference] diagnostics written: /data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_phase2_hard5_eval_20260522/variants/phase2_mask_dropout/ot_diagnostics.json\n"
    },
    {
      "variant": "phase2_rgb_edge_dropout",
      "ok": true,
      "runtime_seconds": 123.01636838912964,
      "tail": "pling:  88%|████████▊ | 22/25 [00:04<00:00,  6.12it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:05<00:00,  6.63it/s]\u001b[A\n\nSampling:  96%|█████████▌| 24/25 [00:05<00:00,  7.04it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:05<00:00,  7.36it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:05<00:00,  4.67it/s]\n\n 80%|████████  | 4/5 [00:45<00:12, 12.96s/it]\u001b[31mMean feature regression averaging over 20 steps\u001b[0m\nWarning: Feature dimensions mismatch. Using 8 dimensions for normalization\nis_postprocessing_arti_info: True\nis_postprocessing_arti_info: True\nProcessing batch  4\n\n\nSampling:   0%|          | 0/25 [00:00<?, ?it/s]\u001b[A\n\nSampling:   4%|▍         | 1/25 [00:00<00:04,  5.40it/s]\u001b[A\n\nSampling:   8%|▊         | 2/25 [00:00<00:04,  5.35it/s]\u001b[A\n\nSampling:  12%|█▏        | 3/25 [00:00<00:04,  5.33it/s]\u001b[A\n\nSampling:  16%|█▌        | 4/25 [00:00<00:03,  5.32it/s]\u001b[A\n\nSampling:  20%|██        | 5/25 [00:00<00:03,  5.33it/s]\u001b[A\n\nSampling:  24%|██▍       | 6/25 [00:01<00:03,  5.32it/s]\u001b[A\n\nSampling:  28%|██▊       | 7/25 [00:01<00:03,  5.31it/s]\u001b[A\n\nSampling:  32%|███▏      | 8/25 [00:01<00:03,  5.31it/s]\u001b[A\n\nSampling:  36%|███▌      | 9/25 [00:01<00:03,  5.31it/s]\u001b[A\n\nSampling:  40%|████      | 10/25 [00:01<00:02,  5.31it/s]\u001b[A\n\nSampling:  44%|████▍     | 11/25 [00:02<00:02,  5.31it/s]\u001b[A\n\nSampling:  48%|████▊     | 12/25 [00:02<00:02,  5.30it/s]\u001b[A\n\nSampling:  52%|█████▏    | 13/25 [00:02<00:02,  5.30it/s]\u001b[A\n\nSampling:  56%|█████▌    | 14/25 [00:02<00:02,  5.31it/s]\u001b[A\n\nSampling:  60%|██████    | 15/25 [00:02<00:01,  5.32it/s]\u001b[A\n\nSampling:  64%|██████▍   | 16/25 [00:03<00:01,  5.31it/s]\u001b[A\n\nSampling:  68%|██████▊   | 17/25 [00:03<00:01,  5.31it/s]\u001b[A\n\nSampling:  72%|███████▏  | 18/25 [00:03<00:01,  5.31it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:03<00:01,  5.31it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:03<00:00,  6.90it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:03<00:00,  8.01it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:04<00:00,  8.79it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:04<00:00,  6.04it/s]\n\n\nSampling:   0%|          | 0/25 [00:00<?, ?it/s]\u001b[A\n\nSampling:   4%|▍         | 1/25 [00:00<00:03,  6.37it/s]\u001b[A\n\nSampling:   8%|▊         | 2/25 [00:00<00:03,  6.43it/s]\u001b[A\n\nSampling:  12%|█▏        | 3/25 [00:00<00:03,  6.45it/s]\u001b[A\n\nSampling:  16%|█▌        | 4/25 [00:00<00:03,  6.47it/s]\u001b[A\n\nSampling:  20%|██        | 5/25 [00:00<00:03,  6.48it/s]\u001b[A\n\nSampling:  24%|██▍       | 6/25 [00:00<00:02,  6.49it/s]\u001b[A\n\nSampling:  28%|██▊       | 7/25 [00:01<00:02,  6.49it/s]\u001b[A\n\nSampling:  32%|███▏      | 8/25 [00:01<00:02,  6.50it/s]\u001b[A\n\nSampling:  36%|███▌      | 9/25 [00:01<00:02,  6.50it/s]\u001b[A\n\nSampling:  40%|████      | 10/25 [00:01<00:02,  6.50it/s]\u001b[A\n\nSampling:  44%|████▍     | 11/25 [00:01<00:02,  6.50it/s]\u001b[A\n\nSampling:  48%|████▊     | 12/25 [00:01<00:02,  6.50it/s]\u001b[A\n\nSampling:  52%|█████▏    | 13/25 [00:02<00:01,  6.50it/s]\u001b[A\n\nSampling:  56%|█████▌    | 14/25 [00:02<00:01,  6.50it/s]\u001b[A\n\nSampling:  60%|██████    | 15/25 [00:02<00:01,  6.51it/s]\u001b[A\n\nSampling:  64%|██████▍   | 16/25 [00:02<00:01,  6.51it/s]\u001b[A\n\nSampling:  68%|██████▊   | 17/25 [00:02<00:01,  6.51it/s]\u001b[A\n\nSampling:  72%|███████▏  | 18/25 [00:02<00:01,  6.51it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:02<00:00,  6.51it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:03<00:00,  8.45it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:03<00:00,  9.81it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:03<00:00, 10.76it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:03<00:00,  7.38it/s]\n\n100%|██████████| 5/5 [00:54<00:00, 11.64s/it]\n100%|██████████| 5/5 [00:54<00:00, 10.91s/it]\n\u001b[31mMean feature regression averaging over 20 steps\u001b[0m\nWarning: Feature dimensions mismatch. Using 8 dimensions for normalization\nis_postprocessing_arti_info: True\nis_postprocessing_arti_info: True\n[OT inference] diagnostics written: /data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_phase2_hard5_eval_20260522/variants/phase2_rgb_edge_dropout/ot_diagnostics.json\n"
    },
    {
      "variant": "phase2_firstthird_edge_dropout",
      "ok": true,
      "runtime_seconds": 150.5986189842224,
      "tail": "eraging over 20 steps\u001b[0m\nWarning: Feature dimensions mismatch. Using 8 dimensions for normalization\nis_postprocessing_arti_info: True\nis_postprocessing_arti_info: True\nProcessing batch  4\n\n\nSampling:   0%|          | 0/25 [00:00<?, ?it/s]\u001b[A\n\nSampling:   4%|▍         | 1/25 [00:00<00:07,  3.16it/s]\u001b[A\n\nSampling:   8%|▊         | 2/25 [00:00<00:07,  3.14it/s]\u001b[A\n\nSampling:  12%|█▏        | 3/25 [00:00<00:07,  3.14it/s]\u001b[A\n\nSampling:  16%|█▌        | 4/25 [00:01<00:06,  3.14it/s]\u001b[A\n\nSampling:  20%|██        | 5/25 [00:01<00:06,  3.13it/s]\u001b[A\n\nSampling:  24%|██▍       | 6/25 [00:01<00:06,  3.13it/s]\u001b[A\n\nSampling:  28%|██▊       | 7/25 [00:02<00:05,  3.13it/s]\u001b[A\n\nSampling:  32%|███▏      | 8/25 [00:02<00:05,  3.13it/s]\u001b[A\n\nSampling:  36%|███▌      | 9/25 [00:02<00:05,  3.14it/s]\u001b[A\n\nSampling:  40%|████      | 10/25 [00:03<00:04,  3.14it/s]\u001b[A\n\nSampling:  44%|████▍     | 11/25 [00:03<00:04,  3.14it/s]\u001b[A\n\nSampling:  48%|████▊     | 12/25 [00:03<00:04,  3.14it/s]\u001b[A\n\nSampling:  52%|█████▏    | 13/25 [00:04<00:03,  3.14it/s]\u001b[A\n\nSampling:  56%|█████▌    | 14/25 [00:04<00:03,  3.13it/s]\u001b[A\n\nSampling:  60%|██████    | 15/25 [00:04<00:03,  3.13it/s]\u001b[A\n\nSampling:  64%|██████▍   | 16/25 [00:05<00:02,  3.13it/s]\u001b[A\n\nSampling:  68%|██████▊   | 17/25 [00:05<00:02,  3.14it/s]\u001b[A\n\nSampling:  72%|███████▏  | 18/25 [00:05<00:02,  3.14it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:06<00:01,  3.14it/s]\u001b[A\n\nSampling:  80%|████████  | 20/25 [00:06<00:01,  3.69it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:06<00:00,  4.21it/s]\u001b[A\n\nSampling:  88%|████████▊ | 22/25 [00:06<00:00,  4.68it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:06<00:00,  5.07it/s]\u001b[A\n\nSampling:  96%|█████████▌| 24/25 [00:06<00:00,  5.38it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:07<00:00,  5.62it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:07<00:00,  3.56it/s]\n\n\nSampling:   0%|          | 0/25 [00:00<?, ?it/s]\u001b[A\n\nSampling:   4%|▍         | 1/25 [00:00<00:07,  3.38it/s]\u001b[A\n\nSampling:   8%|▊         | 2/25 [00:00<00:06,  3.38it/s]\u001b[A\n\nSampling:  12%|█▏        | 3/25 [00:00<00:06,  3.38it/s]\u001b[A\n\nSampling:  16%|█▌        | 4/25 [00:01<00:06,  3.38it/s]\u001b[A\n\nSampling:  20%|██        | 5/25 [00:01<00:05,  3.38it/s]\u001b[A\n\nSampling:  24%|██▍       | 6/25 [00:01<00:05,  3.36it/s]\u001b[A\n\nSampling:  28%|██▊       | 7/25 [00:02<00:05,  3.37it/s]\u001b[A\n\nSampling:  32%|███▏      | 8/25 [00:02<00:05,  3.37it/s]\u001b[A\n\nSampling:  36%|███▌      | 9/25 [00:02<00:04,  3.37it/s]\u001b[A\n\nSampling:  40%|████      | 10/25 [00:02<00:04,  3.37it/s]\u001b[A\n\nSampling:  44%|████▍     | 11/25 [00:03<00:04,  3.37it/s]\u001b[A\n\nSampling:  48%|████▊     | 12/25 [00:03<00:03,  3.38it/s]\u001b[A\n\nSampling:  52%|█████▏    | 13/25 [00:03<00:03,  3.38it/s]\u001b[A\n\nSampling:  56%|█████▌    | 14/25 [00:04<00:03,  3.38it/s]\u001b[A\n\nSampling:  60%|██████    | 15/25 [00:04<00:02,  3.38it/s]\u001b[A\n\nSampling:  64%|██████▍   | 16/25 [00:04<00:02,  3.38it/s]\u001b[A\n\nSampling:  68%|██████▊   | 17/25 [00:05<00:02,  3.38it/s]\u001b[A\n\nSampling:  72%|███████▏  | 18/25 [00:05<00:02,  3.38it/s]\u001b[A\n\nSampling:  76%|███████▌  | 19/25 [00:05<00:01,  3.38it/s]\u001b[A\n\nSampling:  80%|████████  | 20/25 [00:05<00:01,  3.98it/s]\u001b[A\n\nSampling:  84%|████████▍ | 21/25 [00:05<00:00,  4.54it/s]\u001b[A\n\nSampling:  88%|████████▊ | 22/25 [00:06<00:00,  5.03it/s]\u001b[A\n\nSampling:  92%|█████████▏| 23/25 [00:06<00:00,  5.45it/s]\u001b[A\n\nSampling:  96%|█████████▌| 24/25 [00:06<00:00,  5.79it/s]\u001b[A\n\nSampling: 100%|██████████| 25/25 [00:06<00:00,  6.05it/s]\u001b[A\nSampling: 100%|██████████| 25/25 [00:06<00:00,  3.84it/s]\n\n100%|██████████| 5/5 [01:23<00:00, 17.95s/it]\n100%|██████████| 5/5 [01:23<00:00, 16.70s/it]\n\u001b[31mMean feature regression averaging over 20 steps\u001b[0m\nWarning: Feature dimensions mismatch. Using 8 dimensions for normalization\nis_postprocessing_arti_info: True\nis_postprocessing_arti_info: True\n[OT inference] diagnostics written: /data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_phase2_hard5_eval_20260522/variants/phase2_firstthird_edge_dropout/ot_diagnostics.json\n"
    }
  ],
  "variant_results": [
    {
      "variant": {
        "name": "official_pact",
        "label": "Official PAct",
        "kind": "official",
        "note": "Released PAct cache, no OT wrapper."
      },
      "records": [
        {
          "sample_name": "000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6",
          "benchmark_index": 0,
          "sample_id": "ArtVIP/major_appliances/model_refrigerator_6",
          "source_dataset": "ArtVIP",
          "category": "major_appliances",
          "object_id": "major_appliances/model_refrigerator_6",
          "num_parts": 7,
          "movable_parts": 6,
          "variant": "official_pact",
          "variant_label": "Official PAct",
          "variant_note": "Released PAct cache, no OT wrapper.",
          "pact_object_json": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_phase2_hard5_eval_20260522/variants/official_pact/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6@000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6_synthetic_processed.@ng/object.json",
          "pact_exploded_png": null,
          "metric_groups": {
            "pipeline_availability": {
              "inference_success": {
                "value": 1,
                "status": "measured",
                "note": ""
              },
              "object_json_valid": {
                "value": 1,
                "status": "measured",
                "note": ""
              },
              "glb_export_success": {
                "value": 0,
                "status": "not_provided",
                "note": "This smoke run exports articulated object JSON/PLY, not textured GLB."
              },
              "part_asset_completeness": {
                "value": 1.0,
                "status": "measured",
                "note": ""
              },
              "runtime_seconds": {
                "value": 22.502672100067137,
                "status": "measured",
                "note": ""
              },
              "peak_gpu_memory_mb": {
                "value": null,
                "status": "not_provided",
                "note": "Not sampled in this run."
              },
              "reproducible_seed_match": {
                "value": 1,
                "status": "measured",
                "note": ""
              }
            },
            "geometry": {
              "chamfer_l2": {
                "value": null,
                "status": "not_provided",
                "note": "PLY-level Chamfer hook present; omitted in smoke run for speed."
              },
              "fscore_tau_0_01": {
                "value": null,
                "status": "not_provided",
                "note": "Requires dense surface sampling."
              },
              "normal_consistency": {
                "value": null,
                "status": "not_provided",
                "note": "Requires dense surface sampling."
              },
              "scale_consistency": {
                "value": 0.5954479840555045,
                "status": "measured",
                "note": ""
              },
              "mesh_manifold_sanity": {
                "value": null,
                "status": "not_provided",
                "note": "Requires mesh repair/manifold pass."
              },
              "texture_or_material_coverage": {
                "value": 0.0,
                "status": "not_provided",
                "note": "PAct smoke export is untextured PLY."
              }
            },
            "part_decomposition": {
              "part_count_mae": {
                "value": 5,
                "status": "measured",
                "note": ""
              },
              "part_count_accuracy": {
                "value": 0.2857142857142857,
                "status": "measured",
                "note": ""
              },
              "part_segmentation_miou_if_masks_available": {
                "value": null,
                "status": "requires_gt",
                "note": "2D mask GT is conditioning input; not a predicted mask output."
              },
              "semantic_part_accuracy": {
                "value": null,
                "status": "not_provided",
                "note": "PAct output names are not semantic labels in this export."
              },
              "parent_child_accuracy": {
                "value": 1.0,
                "status": "measured",
                "note": ""
              },
              "tree_edit_distance": {
                "value": 5,
                "status": "measured",
                "note": ""
              },
              "orphan_duplicate_part_rate": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              }
            },
            "kinematics": {
              "joint_count_mae": {
                "value": 5,
                "status": "measured",
                "note": ""
              },
              "joint_precision": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              },
              "joint_recall": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              },
              "joint_f1": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              },
              "joint_type_accuracy": {
                "value": 0.16666666666666666,
                "status": "measured",
                "note": ""
              },
              "axis_angular_error_deg": {
                "value": 90.0,
                "status": "measured",
                "note": ""
              },
              "origin_distance_error": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              },
              "joint_limit_error": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              },
              "kinematic_tree_validity": {
                "value": 1,
                "status": "measured",
                "note": ""
              }
            },
            "motion_consistency": {
              "detachment_distance": {
                "value": null,
                "status": "requires_simulation",
                "note": ""
              },
              "collision_rate": {
                "value": null,
                "status": "requires_simulation",
                "note": ""
              },
              "self_collision_rate": {
                "value": null,
                "status": "requires_simulation",
                "note": ""
              },
              "closed_state_assembly_error": {
                "value": 0.4045520159444955,
                "status": "measured",
                "note": ""
              },
              "open_state_plausibility": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              },
              "trajectory_smoothness": {
                "value": null,
                "status": "requires_simulation",
                "note": ""
              }
            },
            "ot_routing_diagnostics": {
              "ot_modules_active": {
                "value": 0,
                "status": "not_applicable",
                "note": "Raw PAct baseline; no OT module."
              },
              "ot_gate_mean": {
                "value": null,
                "status": "not_applicable",
                "note": ""
              },
              "ot_plan_marginal_error": {
                "value": null,
                "status": "not_applicable",
                "note": ""
              },
              "ot_assignment_entropy": {
                "value": null,
                "status": "not_applicable",
                "note": ""
              },
              "ot_edge_delta": {
                "value": null,
                "status": "not_applicable",
                "note": ""
              },
              "ot_mask_prior_beta": {
                "value": null,
                "status": "not_applicable",
                "note": ""
              },
              "ot_mask_dropout_delta": {
                "value": null,
                "status": "not_applicable",
                "note": ""
              },
              "ot_virtual_mass": {
                "value": null,
                "status": "not_applicable",
                "note": ""
              },
              "part_patch_compactness": {
                "value": null,
                "status": "not_applicable",
                "note": ""
              }
            },
            "robustness_breakdown": {
              "macro_score_by_source_dataset": {
                "value": null,
                "status": "not_applicable",
                "note": "Aggregate-only metric; see report.aggregate.by_source."
              },
              "macro_score_by_category": {
                "value": null,
                "status": "not_applicable",
                "note": "Aggregate-only metric; sample count is 5."
              },
              "macro_score_by_problem_tag": {
                "value": null,
                "status": "not_applicable",
                "note": "Aggregate-only metric; sample count is 5."
              },
              "worst_10pct_score": {
                "value": null,
                "status": "not_applicable",
                "note": "Aggregate-only metric; sample count is 5."
              },
              "failure_cluster_count": {
                "value": null,
                "status": "not_provided",
                "note": "Requires larger batch clustering."
              }
            },
            "debug": {
              "pred_part_count": 2,
              "gt_part_count": 7,
              "pred_joint_count": 1,
              "gt_joint_count": 6,
              "matches": [
                {
                  "type_mismatch": 0.0,
                  "axis_error_deg": 90.0,
                  "origin_error": 0.8698759411008273,
                  "limit_error": 9.930761872399286,
                  "accepted": false
                }
              ],
              "pred_tree": {
                "root_count": 1,
                "duplicate_ids": 0,
                "dangling_parent_count": 0,
                "cycle_node_count": 0,
                "valid": 1
              },
              "ref_tree": {
                "root_count": 1,
                "duplicate_ids": 0,
                "dangling_parent_count": 0,
                "cycle_node_count": 0,
                "valid": 1
              }
            }
          },
          "group_scores": {
            "pipeline_availability": 100.0,
            "geometry": 59.544798405550445,
            "part_decomposition": 28.57142857142857,
            "kinematics": 0.0,
            "motion_consistency": 0.0,
            "ot_routing_diagnostics": 0.0
          },
          "weighted_score": 25.943163658019245,
          "vlm_card": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_phase2_hard5_eval_20260522/variant_cards/official_pact/000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6.png",
          "interactive_3d": {
            "source_textured_glb": "viewer_assets/000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6/source_textured.glb",
            "gt_parts_glb": "viewer_assets/000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6/gt_parts.glb",
            "pact_glb": "viewer_assets/000_ArtVIP_major_appliances_major_appliances_model_refrigerator_6/official_pact/pact_parts.glb"
          }
        },
        {
          "sample_name": "004_GAPartNet_small_appliances_small_appliances_103101",
          "benchmark_index": 4,
          "sample_id": "GAPartNet/small_appliances/103101",
          "source_dataset": "GAPartNet",
          "category": "small_appliances",
          "object_id": "small_appliances/103101",
          "num_parts": 12,
          "movable_parts": 11,
          "variant": "official_pact",
          "variant_label": "Official PAct",
          "variant_note": "Released PAct cache, no OT wrapper.",
          "pact_object_json": "/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_phase2_hard5_eval_20260522/variants/official_pact/pact_outputs/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/004_GAPartNet_small_appliances_small_appliances_103101@004_GAPartNet_small_appliances_small_appliances_103101_synthetic_processed.@ng/object.json",
          "pact_exploded_png": null,
          "metric_groups": {
            "pipeline_availability": {
              "inference_success": {
                "value": 1,
                "status": "measured",
                "note": ""
              },
              "object_json_valid": {
                "value": 1,
                "status": "measured",
                "note": ""
              },
              "glb_export_success": {
                "value": 0,
                "status": "not_provided",
                "note": "This smoke run exports articulated object JSON/PLY, not textured GLB."
              },
              "part_asset_completeness": {
                "value": 1.0,
                "status": "measured",
                "note": ""
              },
              "runtime_seconds": {
                "value": 22.502672100067137,
                "status": "measured",
                "note": ""
              },
              "peak_gpu_memory_mb": {
                "value": null,
                "status": "not_provided",
                "note": "Not sampled in this run."
              },
              "reproducible_seed_match": {
                "value": 1,
                "status": "measured",
                "note": ""
              }
            },
            "geometry": {
              "chamfer_l2": {
                "value": null,
                "status": "not_provided",
                "note": "PLY-level Chamfer hook present; omitted in smoke run for speed."
              },
              "fscore_tau_0_01": {
                "value": null,
                "status": "not_provided",
                "note": "Requires dense surface sampling."
              },
              "normal_consistency": {
                "value": null,
                "status": "not_provided",
                "note": "Requires dense surface sampling."
              },
              "scale_consistency": {
                "value": 0.7169453929742333,
                "status": "measured",
                "note": ""
              },
              "mesh_manifold_sanity": {
                "value": null,
                "status": "not_provided",
                "note": "Requires mesh repair/manifold pass."
              },
              "texture_or_material_coverage": {
                "value": 0.0,
                "status": "not_provided",
                "note": "PAct smoke export is untextured PLY."
              }
            },
            "part_decomposition": {
              "part_count_mae": {
                "value": 10,
                "status": "measured",
                "note": ""
              },
              "part_count_accuracy": {
                "value": 0.16666666666666663,
                "status": "measured",
                "note": ""
              },
              "part_segmentation_miou_if_masks_available": {
                "value": null,
                "status": "requires_gt",
                "note": "2D mask GT is conditioning input; not a predicted mask output."
              },
              "semantic_part_accuracy": {
                "value": null,
                "status": "not_provided",
                "note": "PAct output names are not semantic labels in this export."
              },
              "parent_child_accuracy": {
                "value": 1.0,
                "status": "measured",
                "note": ""
              },
              "tree_edit_distance": {
                "value": 10,
                "status": "measured",
                "note": ""
              },
              "orphan_duplicate_part_rate": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              }
            },
            "kinematics": {
              "joint_count_mae": {
                "value": 10,
                "status": "measured",
                "note": ""
              },
              "joint_precision": {
                "value": 1.0,
                "status": "measured",
                "note": ""
              },
              "joint_recall": {
                "value": 0.09090909090909091,
                "status": "measured",
                "note": ""
              },
              "joint_f1": {
                "value": 0.16666666666666669,
                "status": "measured",
                "note": ""
              },
              "joint_type_accuracy": {
                "value": 0.09090909090909091,
                "status": "measured",
                "note": ""
              },
              "axis_angular_error_deg": {
                "value": 0.0,
                "status": "measured",
                "note": ""
              },
              "origin_distance_error": {
                "value": 0.4853234157894157,
                "status": "measured",
                "note": ""
              },
              "joint_limit_error": {
                "value": 64.05308911218165,
                "status": "measured",
                "note": ""
              },
              "kinematic_tree_validity": {
                "value": 1,
                "status": "measured",
                "note": ""
              }
            },
            "motion_consistency": {
              "detachment_distance": {
                "value": null,
                "status": "requires_simulation",
                "note": ""
              },
              "collision_rate": {
                "value": null,
                "status": "requires_simulation",
                "note": ""
              },
              "self_collision_rate": {
                "value": null,
                "status": "requires_simulation",
                "note": ""
              },
              "closed_state_assembly_error": {
                "value": 0.2830546070257667,
                "status": "measured",
                "note": ""
              },
              "open_state_plausibility": {
                "value": 0.16666666666666669,
                "status": "measured",
                "note": ""
              },
              "trajectory_smoothness": {
                "value": null,
                "status": "requires_simulation",
                "note": ""
              }
            },
            "ot_routing_diagnostics": {
              "ot_modules_active": {
                "value": 0,
                "status": "not_applicable",
                "note": "Raw PAct baseline; no OT module."
              },
              "ot_gate_mean": {
                "value": null,
                "status": "not_applicable",
                "note": ""
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                "value": null,
                "status": "not_applicable",
                "note": ""
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                "status": "not_applicable",
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                "status": "not_applicable",
                "note": ""
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                "value": null,
                "status": "not_applicable",
                "note": ""
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                "value": null,
                "status": "not_applicable",
                "note": ""
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                "value": null,
                "status": "not_applicable",
                "note": ""
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                "status": "not_applicable",
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            "robustness_breakdown": {
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                "status": "not_applicable",
                "note": "Aggregate-only metric; see report.aggregate.by_source."
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              "macro_score_by_category": {
                "value": null,
                "status": "not_applicable",
                "note": "Aggregate-only metric; sample count is 5."
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              "macro_score_by_problem_tag": {
                "value": null,
                "status": "not_applicable",
                "note": "Aggregate-only metric; sample count is 5."
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              "worst_10pct_score": {
                "value": null,
                "status": "not_applicable",
                "note": "Aggregate-only metric; sample count is 5."
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              "failure_cluster_count": {
                "value": null,
                "status": "not_provided",
                "note": "Requires larger batch clustering."
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            },
            "debug": {
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        },
        {
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                "note": "Not sampled in this run."
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                "note": "Requires dense surface sampling."
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                "status": "not_provided",
                "note": "Requires dense surface sampling."
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                "note": "Requires mesh repair/manifold pass."
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                "note": "Aggregate-only metric; sample count is 5."
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                "note": "Aggregate-only metric; sample count is 5."
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                "note": "Requires larger batch clustering."
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        {
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                "note": "Requires dense surface sampling."
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                "note": "PAct smoke export is untextured PLY."
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        },
        {
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        {
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                "note": "Requires dense surface sampling."
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        {
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                "note": "Aggregate-only metric; sample count is 5."
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                "note": "Aggregate-only metric; sample count is 5."
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                "note": "Aggregate-only metric; sample count is 5."
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        {
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                "note": "Requires dense surface sampling."
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                "note": "Aggregate-only metric; sample count is 5."
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        {
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                "note": "PAct smoke export is untextured PLY."
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                "status": "not_provided",
                "note": "Requires dense surface sampling."
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        {
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        {
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                "note": "Aggregate-only metric; see report.aggregate.by_source."
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                "note": "Aggregate-only metric; sample count is 5."
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                "status": "not_applicable",
                "note": "Aggregate-only metric; sample count is 5."
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                "note": "Aggregate-only metric; sample count is 5."
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        {
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        {
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