Datasets:

mulligan
/

sim-square-broad-r00-r03-eval

candidate_idx int64	cell_idx int64	length int64	nut_peg_distance float64	nut_x float64	nut_x_idx int64	nut_y float64	nut_y_idx int64	nut_yaw float64	nut_yaw_idx int64	peg_x float64	peg_x_idx int64	peg_y float64	peg_y_idx int64	point_idx int64	reward float64	success int64
0	635	155	0.251291	0.039783	2	0.150587	3	-1.904924	1	0.290553	2	0.134421	1	0	1	1
2	164	197	0.33674	-0.069985	0	0.088746	3	-0.14237	3	0.13686	1	-0.176978	0	1	1	1
3	559	400	0.149913	0.078662	2	-0.073866	1	1.123454	5	0.006643	0	0.057615	1	2	0	0
5	98	400	0.285638	-0.093707	0	-0.003657	2	-2.948441	0	0.161197	1	-0.132547	0	3	0	0
6	456	191	0.284167	-0.017543	1	0.221762	4	0.600771	4	-0.058406	0	-0.059452	0	4	1	1
7	257	400	0.436829	0.008922	1	-0.204815	0	-1.188904	2	0.214512	2	0.18061	1	5	0	0
8	412	181	0.234486	0.014644	1	0.112977	3	0.384599	4	0.197164	2	-0.034232	0	6	1	1
9	303	400	0.214504	-0.009112	1	-0.097945	1	-0.972684	2	0.071827	1	0.100702	1	7	0	0
10	233	206	0.346253	-0.102359	0	0.19062	4	1.76661	6	0.225467	2	0.079169	1	8	1	1
11	480	400	0.191258	0.096605	2	-0.171709	0	-2.747418	0	-0.094366	0	-0.161234	0	9	0	0
12	690	227	0.361426	0.070243	2	0.245857	4	-0.444588	3	-0.020077	0	-0.104102	0	10	1	1
13	35	400	0.421259	-0.07572	0	-0.229031	0	1.425816	5	0.251477	2	0.036301	1	11	0	0
14	153	400	0.135409	-0.042724	0	0.056683	3	-2.216298	1	0.045738	1	0.159202	1	12	0	0
17	316	184	0.274938	-0.028943	1	-0.058214	1	0.167673	4	0.209923	2	-0.194353	0	13	1	1
18	194	400	0.308845	-0.082645	0	0.230578	4	-2.517261	0	0.093638	1	-0.023015	0	14	0	0
19	519	176	0.399465	0.058918	2	-0.243314	0	1.927165	6	0.16286	1	0.142391	1	15	1	1
21	18	400	0.178867	-0.113502	0	-0.189042	0	-0.672111	3	0.017676	0	-0.067445	0	16	0	0
22	430	400	0.375113	-0.005052	1	0.096383	3	3.024363	7	0.285768	2	-0.140542	0	17	0	0
23	295	145	0.152284	0.028722	1	-0.115535	1	-2.042084	1	-0.041875	0	0.019396	1	18	1	1
24	474	172	0.372695	0.005689	1	0.206226	4	2.67301	7	0.028649	0	-0.165761	0	19	1	1
25	249	400	0.343305	-0.025372	1	-0.219355	0	-1.690682	1	0.10236	1	0.099303	1	20	0	0
26	127	400	0.148188	-0.093409	0	0.001235	2	0.90135	5	-0.005914	0	0.120836	1	21	0	0
27	598	400	0.163283	0.112864	2	-0.01794	2	-0.311745	3	0.274814	2	-0.038759	0	22	0	0
28	628	400	0.239036	0.079255	2	0.072409	3	-2.782472	0	0.248999	2	-0.095891	0	23	0	0
29	85	150	0.255748	-0.059628	0	-0.091199	1	2.19252	6	-0.080399	0	0.163704	1	24	1	1
30	161	400	0.246937	-0.051731	0	0.133993	3	-1.400507	2	0.176948	2	0.040804	1	25	0	0
33	52	147	0.335823	-0.056041	0	-0.068245	1	-2.625032	0	0.279439	2	-0.053044	0	26	1	1
34	168	159	0.295853	-0.06259	0	0.152936	3	0.262219	4	0.024044	0	-0.129949	0	27	1	1
35	543	160	0.159843	0.086036	2	-0.138172	1	-0.850398	2	0.144849	1	0.010458	1	28	1	1
36	683	400	0.163277	0.109986	2	0.207208	4	-2.338588	1	0.168808	2	0.054894	1	29	0	0
37	44	400	0.186277	-0.086264	0	-0.194468	0	2.927091	7	0.099798	1	-0.185512	0	30	0	0
38	358	400	0.231702	-0.024966	1	0.030072	2	-0.56697	3	0.203776	2	-0.00685	0	31	0	0
39	367	400	0.159206	0.001464	1	-0.013009	2	1.548099	5	-0.072279	0	0.128087	1	32	0	0
40	452	400	0.266925	0.021576	1	0.177283	4	-0.019219	3	0.060713	1	-0.086757	0	33	0	0
41	275	164	0.36572	-0.002174	1	-0.162135	0	1.000396	5	0.182888	2	0.153307	1	34	1	1
43	574	151	0.153215	0.089653	2	-0.108515	1	2.370327	7	0.242868	2	-0.108388	0	35	1	1
44	652	395	0.290309	0.063228	2	0.05405	3	0.723924	4	0.268475	2	-0.151262	0	36	1	1
45	109	158	0.139618	-0.082686	0	-0.037342	2	-1.311959	2	-0.012466	0	0.083333	1	37	1	1
46	471	400	0.198312	-0.035723	1	0.247493	4	2.090734	6	0.108897	1	0.1118	1	38	0	0
47	482	165	0.20711	0.055402	2	-0.234368	0	-3.071588	0	0.035002	1	-0.028265	0	39	1	1
48	707	235	0.277784	0.044983	2	0.232961	4	0.828147	5	0.221062	2	0.018112	1	40	1	1
50	140	137	0.254909	-0.075201	0	0.03976	2	2.599719	7	0.154846	1	-0.070045	0	41	1	1
51	537	400	0.242379	0.066355	2	-0.052629	1	-1.617485	1	0.076261	1	0.189548	1	42	0	0
53	74	168	0.261261	-0.106108	0	-0.12486	1	0.491034	4	0.130691	1	-0.014481	0	43	1	1
54	432	185	0.353189	-0.012411	1	0.159701	4	-2.855765	0	-0.028027	0	-0.193143	0	44	1	1
55	281	172	0.372242	0.021313	1	-0.178721	0	2.265714	6	0.296529	2	0.071918	1	45	1	1
56	338	130	0.165491	0.01267	1	0.01554	2	-2.443196	0	0.116612	1	-0.113236	0	46	1	1
58	209	400	0.358323	-0.100375	0	0.192917	4	-1.076339	2	0.257438	2	0.173798	1	47	0	0
59	504	400	0.168243	0.105848	2	-0.209754	0	0.093613	4	-0.013928	0	-0.091605	0	48	0	0
60	666	200	0.244303	0.072303	2	0.135595	3	3.098431	7	-0.088035	0	-0.048731	0	49	1	1
61	11	233	0.403346	-0.066545	0	-0.154517	0	-2.116053	1	0.232025	2	0.116672	1	50	1	1
63	550	178	0.174681	0.039263	2	-0.084832	1	-0.746168	3	0.190797	2	-0.171729	0	51	1	1
65	117	135	0.251807	-0.045573	0	-0.008131	2	-0.404059	3	0.113937	1	0.18671	1	52	1	1
66	235	400	0.209387	-0.065993	0	0.212308	4	2.753245	7	-0.016606	0	0.008829	1	53	0	0
67	490	196	0.199008	0.074666	2	-0.197336	0	-2.16364	1	0.260207	2	-0.125373	0	54	1	1
68	688	400	0.363267	0.106643	2	0.156075	4	-0.927503	2	0.234703	2	-0.183872	0	55	0	0
69	73	159	0.193459	-0.097798	0	-0.143002	1	0.33755	4	-0.090804	0	0.05033	1	56	1	1
70	389	136	0.214042	-0.02072	1	0.08228	3	-2.690204	0	0.18803	2	0.129578	1	57	1	1
73	280	398	0.283333	-0.013206	1	-0.237505	0	2.018807	6	0.223731	2	-0.082139	0	58	1	1
74	158	400	0.244864	-0.105541	0	0.051198	3	-1.229864	2	0.078933	1	-0.109824	0	59	0	0
78	226	208	0.396231	-0.038729	0	0.180154	4	1.170167	5	0.299301	2	-0.026569	0	60	1	1
79	499	181	0.284523	0.04443	2	-0.167233	0	-0.187887	3	-0.030695	0	0.107193	1	61	1	1
80	712	180	0.33641	0.056408	2	0.164811	4	2.239568	6	0.186368	2	-0.145482	0	62	1	1
81	243	400	0.214663	-0.032906	1	-0.18158	0	-2.827653	0	0.057141	1	0.013283	1	63	0	0
82	173	192	0.335779	-0.085724	0	0.106833	3	0.476913	4	0.239293	2	0.191164	1	64	1	1
83	540	400	0.151838	0.062001	2	-0.120027	1	-1.457721	2	-0.082893	0	-0.074632	0	65	0	0
85	143	218	0.42498	-0.110296	0	-0.049756	2	2.712439	7	0.264991	2	0.149663	1	66	1	1
86	451	213	0.168782	-0.000933	1	0.236048	4	-0.364403	3	0.031521	0	0.070415	1	67	1	1
88	407	400	0.27411	0.002483	1	0.066937	3	-0.614465	3	0.275964	2	0.048369	1	68	0	0
90	152	160	0.331228	-0.089287	0	0.140475	3	-1.996567	1	0.148431	1	-0.090181	0	69	1	1
91	523	400	0.338323	0.108746	2	-0.157606	0	2.97765	7	0.020567	0	0.169023	1	70	0	0
93	16	213	0.291269	-0.063596	0	-0.214866	0	-1.097307	2	0.172285	2	-0.043993	0	71	1	1
94	132	279	0.184672	-0.054814	0	0.010705	2	1.888167	6	-0.068805	0	-0.173436	0	72	1	1
95	341	140	0.202797	0.035412	1	-0.025404	2	-2.4763	0	0.200198	2	0.092799	1	73	1	1
96	446	400	0.232508	0.029305	1	0.218671	4	-1.352922	2	0.105911	1	-0.000854	0	74	0	0
97	25	146	0.341904	-0.052975	0	-0.199938	0	0.762919	4	0.02519	0	0.132912	1	75	1	1
98	101	155	0.332452	-0.058612	0	0.021614	2	-3.124584	0	0.271358	2	0.06216	1	76	1	1
99	612	150	0.1917	0.082054	2	-0.006526	2	2.141858	6	-0.002367	0	-0.178636	0	77	1	1
100	654	208	0.298233	0.114094	2	0.091885	3	1.047112	5	-0.076943	0	-0.13713	0	78	1	1
101	71	400	0.345772	-0.090368	0	-0.078696	1	-0.064734	3	0.245452	2	0.003667	1	79	0	0
103	298	400	0.189418	0.004687	1	-0.128701	1	-1.839516	1	0.180407	2	-0.057979	0	80	0	0
104	431	114	0.185916	0.025681	1	0.061514	3	2.875631	7	0.206366	2	0.105303	1	81	1	1
106	224	400	0.487166	-0.1125	0	0.243004	4	1.508673	5	0.16631	1	-0.15649	0	82	0	0
107	501	208	0.301643	0.092873	2	-0.223916	0	-0.526439	3	0.090084	1	0.077715	1	83	1	1
108	673	163	0.160919	0.060163	2	0.185743	4	-2.56782	0	0.014226	0	0.031521	1	84	1	1
109	38	400	0.231102	-0.079618	0	-0.168616	0	1.585143	6	0.14188	1	-0.102685	0	85	0	0
110	396	237	0.196328	-0.031742	1	0.115848	3	-0.805219	2	-0.038319	0	-0.08037	0	86	1	1
111	557	193	0.350655	0.051425	2	-0.103043	1	0.215168	4	0.282315	2	0.160866	1	87	1	1
112	632	178	0.301728	0.048992	2	0.101493	3	-2.070538	1	0.07453	1	-0.199152	0	88	1	1
113	95	400	0.299173	-0.040371	0	-0.118394	1	3.051715	7	0.19437	2	0.067081	1	89	0	0
115	514	192	0.227392	0.069452	2	-0.184209	0	1.276979	5	0.228166	2	-0.021369	0	90	1	1
116	712	400	0.329787	0.094238	2	0.225482	4	1.814198	6	0.254267	2	-0.062876	0	91	0	0
117	1	400	0.444059	-0.102915	0	-0.240442	0	-2.402233	0	-0.022777	0	0.196326	1	92	0	0
121	304	400	0.309178	-0.015176	1	-0.144051	1	-1.530923	2	0.293353	2	-0.164072	0	93	0	0
122	180	215	0.160542	-0.096296	0	0.077289	3	2.312765	6	0.00944	0	-0.043515	0	94	1	1
123	531	142	0.218975	0.101772	2	-0.094288	1	-2.900944	0	0.134167	1	0.122278	1	95	1	1
124	597	140	0.183739	0.076309	2	0.004092	2	-0.291105	3	0.1584	1	0.168473	1	96	1	1
125	128	164	0.172821	-0.070555	0	-0.023052	2	0.879607	5	0.085493	1	-0.097321	0	97	1	1
126	202	400	0.416335	-0.04789	0	0.20139	4	-1.658017	1	0.217208	2	-0.119635	0	98	0	0
127	523	164	0.275551	0.042357	2	-0.216222	0	2.639146	7	-0.061206	0	0.039127	1	99	1	1

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sim-square-broad-r00-r03-eval

Simulation evaluation evidence for Mulligan.

This bundle contains 120 locked DIVL evaluations, five training seeds per cell, including the campaign's mainline and explicitly named ablation cells. The public Policy Arena selects only mainline comparisons.

Each Parquet row is one evaluated initial state. success is binary, length is the rollout's control-step count, and point_idx joins the exact grid linked by meta/evaluations.json. Pairing requires the same grid manifest hash and training-seed protocol; do not pair unrelated grids by row number.

The evaluation index pins actor and critic artifacts, N=32 action proposals, source-result hashes, state-grid hashes, and every released Parquet file hash. It preserves original cell identifiers as provenance. Historical scalar-IQL collector rollouts remain separate from these DIVL evaluations. Evaluation videos were not recorded. Do not interpret these tables as LeRobot trajectories.

meta/mainline-evaluations.json additionally maps all 160 displayed seed results for this task (eight methods, four rounds, five seeds) to verified per-state outcomes, including actor-only and autonomous comparators. Reused R0 comparator measurements explicitly share the same data file. The recorded proposal count is preserved separately from the series label; R0 is a shared historical baseline.

The associated trajectory repositories preserve their source Apache-2.0 license declarations. The evaluation metadata and results in this bundle use Apache-2.0.

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Simulation · Square-Broad

Collection

Square-Broad R0–R3 trajectories and pinned evaluation evidence. Release 2026-09-22. • 38 items • Updated 1 day ago