Simulation · Square-Broad
Collection
Square-Broad R0–R3 trajectories and pinned evaluation evidence. • 92 items • Updated
sim-square-broad-r01-baseline-idql
Part of Mulligan. Browse evaluations at Policy Arena; the datasets are in the mulligan organization.
State-based IDQL agent: diffusion actor with scalar IQL critic (policy.pt, a PyTorch checkpoint, and stats.json normalizers).
| Property | Value |
|---|---|
| Task | sim-square-broad |
| Model round | R1 |
| Arm | baseline |
| Campaign cell | square_broad_r1_baseline_uniform_no_cf_human_only |
| Seeds | 1, 2, 3, 4, 5 (one folder per seed) |
| Training step | 250001 |
Checkpoints
| Folder | Training run config |
|---|---|
seed-1 |
release/run-configs/sim-square-broad-r01-baseline-idql__seed-1.json |
seed-2 |
release/run-configs/sim-square-broad-r01-baseline-idql__seed-2.json |
seed-3 |
release/run-configs/sim-square-broad-r01-baseline-idql__seed-3.json |
seed-4 |
release/run-configs/sim-square-broad-r01-baseline-idql__seed-4.json |
seed-5 |
release/run-configs/sim-square-broad-r01-baseline-idql__seed-5.json |
Evaluations
Held-out initial-state grid; per-rollout outcomes are in the linked dataset.
| Dataset | Folder | N | Successes |
|---|---|---|---|
| sim-square-broad-r00-r03-eval | seed-1 |
1 | 19369/30000 |
| sim-square-broad-r00-r03-eval | seed-2 |
1 | 19414/30000 |
| sim-square-broad-r00-r03-eval | seed-3 |
1 | 19385/30000 |
| sim-square-broad-r00-r03-eval | seed-4 |
1 | 19076/30000 |
| sim-square-broad-r00-r03-eval | seed-5 |
1 | 19337/30000 |
Data
Trained on: sim-square-broad-c00-teleop-baseline, sim-square-broad-c01-baseline-policy-rollouts, sim-square-broad-c01-dagger-baseline.
Referenced by the metadata of: sim-square-broad-r00-r03-eval.
Provenance
SHA-256 of every file is recorded in release.json. .pt files are PyTorch pickles; load them only in a trusted environment.
The run configs are in the Mulligan code repository; the recipes there retrain each checkpoint. License: mit.