{
  "source_commit": "b0360d0e1b854f8e63fefe012e05e697f581b4c4",
  "updated": "2026-09-26",
  "methods": {
    "spatial": "BWM + spatial",
    "ours": "BWM",
    "driftworld": "DriftWorld",
    "mse": "MSE U-Net",
    "gpc": "GPC diffusion",
    "avdc": "AVDC diffusion"
  },
  "tasks": {
    "can": {
      "rows": [
        {
          "id": "spatial",
          "name": "BWM + spatial",
          "nfe": 1,
          "ar64": {
            "mse": 0.0028,
            "moving_mse": 0.0298,
            "lpips": 0.0073,
            "ssim": 0.979,
            "psnr": 33.58
          },
          "full": {
            "mse": 0.0114,
            "moving_mse": 0.0655,
            "lpips": 0.0353
          },
          "latency_ms": 23.9,
          "params_m": 74.15
        },
        {
          "id": "ours",
          "name": "BWM",
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          "ar64": {
            "mse": 0.0031,
            "moving_mse": 0.0316,
            "lpips": 0.009,
            "ssim": 0.974,
            "psnr": 33.03
          },
          "full": {
            "mse": 0.0112,
            "moving_mse": 0.0659,
            "lpips": 0.0334
          },
          "latency_ms": 23.7,
          "params_m": 74.15
        },
        {
          "id": "driftworld",
          "name": "DriftWorld",
          "nfe": 1,
          "ar64": {
            "mse": 0.0104,
            "moving_mse": 0.0769,
            "lpips": 0.0682,
            "ssim": 0.856,
            "psnr": 26.91
          },
          "full": {
            "mse": 0.0256,
            "moving_mse": 0.1316,
            "lpips": 0.1463
          },
          "latency_ms": 23.8,
          "params_m": 74.15
        },
        {
          "id": "mse",
          "name": "MSE U-Net",
          "nfe": 1,
          "ar64": {
            "mse": 0.0051,
            "moving_mse": 0.0544,
            "lpips": 0.0104,
            "ssim": 0.969,
            "psnr": 30.9
          },
          "full": {
            "mse": 0.0138,
            "moving_mse": 0.1004,
            "lpips": 0.0314
          },
          "latency_ms": 23.7,
          "params_m": 74.15
        },
        {
          "id": "gpc",
          "name": "GPC diffusion",
          "nfe": 6,
          "ar64": {
            "mse": 0.0276,
            "moving_mse": 0.3103,
            "lpips": 0.0589,
            "ssim": 0.91,
            "psnr": 22.48
          },
          "full": {
            "mse": 0.038,
            "moving_mse": 0.3131,
            "lpips": 0.1257
          },
          "latency_ms": 70.3,
          "params_m": 8.73
        },
        {
          "id": "avdc",
          "name": "AVDC diffusion",
          "nfe": 100,
          "ar64": {
            "mse": 0.04,
            "moving_mse": 0.2644,
            "lpips": 0.1194,
            "ssim": 0.801,
            "psnr": 21.53
          },
          "full": {
            "mse": 0.1768,
            "moving_mse": 0.404,
            "lpips": 0.3164
          },
          "latency_ms": 2374.0,
          "params_m": 74.28
        }
      ],
      "name": "Robomimic Can",
      "episodes_ar64": 30,
      "episodes_full": 30,
      "chunk_frames": 2
    },
    "pusht": {
      "rows": [
        {
          "id": "spatial",
          "name": "BWM + spatial",
          "nfe": 1,
          "ar64": {
            "mse": 0.0155,
            "moving_mse": 0.1933,
            "lpips": 0.0407,
            "ssim": 0.964,
            "psnr": 28.64
          },
          "full": {
            "mse": 0.0231,
            "moving_mse": 0.2451,
            "lpips": 0.0628
          },
          "latency_ms": 20.6,
          "params_m": 8.38
        },
        {
          "id": "ours",
          "name": "BWM",
          "nfe": 1,
          "ar64": {
            "mse": 0.0199,
            "moving_mse": 0.2419,
            "lpips": 0.0564,
            "ssim": 0.953,
            "psnr": 26.98
          },
          "full": {
            "mse": 0.0299,
            "moving_mse": 0.3074,
            "lpips": 0.081
          },
          "latency_ms": 20.9,
          "params_m": 8.38
        },
        {
          "id": "driftworld",
          "name": "DriftWorld",
          "nfe": 1,
          "ar64": {
            "mse": 0.0314,
            "moving_mse": 0.4093,
            "lpips": 0.079,
            "ssim": 0.927,
            "psnr": 23.78
          },
          "full": {
            "mse": 0.0451,
            "moving_mse": 0.4624,
            "lpips": 0.1115
          },
          "latency_ms": 21.5,
          "params_m": 8.38
        },
        {
          "id": "mse",
          "name": "MSE U-Net",
          "nfe": 1,
          "ar64": {
            "mse": 0.0303,
            "moving_mse": 0.4008,
            "lpips": 0.0804,
            "ssim": 0.943,
            "psnr": 24.18
          },
          "full": {
            "mse": 0.0427,
            "moving_mse": 0.4512,
            "lpips": 0.1104
          },
          "latency_ms": 21.8,
          "params_m": 8.38
        },
        {
          "id": "gpc",
          "name": "GPC diffusion",
          "nfe": 12,
          "ar64": {
            "mse": 0.063,
            "moving_mse": 1.4241,
            "lpips": 0.1609,
            "ssim": 0.904,
            "psnr": 19.7
          },
          "full": {
            "mse": 0.0753,
            "moving_mse": 1.4597,
            "lpips": 0.2135
          },
          "latency_ms": 140.7,
          "params_m": 8.73
        },
        {
          "id": "avdc",
          "name": "AVDC diffusion",
          "nfe": 100,
          "ar64": {
            "mse": 0.0684,
            "moving_mse": 1.184,
            "lpips": 0.186,
            "ssim": 0.895,
            "psnr": 19.01
          },
          "full": {
            "mse": 0.0795,
            "moving_mse": 1.1297,
            "lpips": 0.2355
          },
          "latency_ms": 2085.5,
          "params_m": 8.51
        }
      ],
      "name": "PushT",
      "episodes_ar64": 388,
      "episodes_full": 400,
      "chunk_frames": 4
    }
  },
  "policy": [
    {
      "id": "spatial",
      "planning": 0.708,
      "delta_ci": [
        -0.055,
        0.054
      ],
      "pearson": 0.9462,
      "pearson_ci": [
        0.805,
        0.993
      ],
      "mae": 0.0098
    },
    {
      "id": "ours",
      "planning": 0.679,
      "delta_ci": [
        -0.077,
        0.018
      ],
      "pearson": 0.8356,
      "pearson_ci": [
        0.583,
        0.983
      ],
      "mae": 0.0163
    },
    {
      "id": "driftworld",
      "planning": 0.709,
      "pearson": 0.8565,
      "pearson_ci": [
        0.523,
        0.976
      ],
      "mae": 0.0306
    },
    {
      "id": "mse",
      "planning": 0.695,
      "delta_ci": [
        -0.054,
        0.027
      ],
      "pearson": 0.915,
      "pearson_ci": [
        0.706,
        0.996
      ],
      "mae": 0.0121
    },
    {
      "id": "gpc",
      "planning": 0.615,
      "delta_ci": [
        -0.149,
        -0.038
      ],
      "pearson": 0.3659,
      "pearson_ci": [
        -0.683,
        0.953
      ],
      "mae": 0.5127
    }
  ],
  "action_probe": {
    "pusht": [
      {
        "id": "spatial",
        "true": 0.06419137120246887,
        "swapped": 0.7089046239852905,
        "ratio": 11.04361241558936
      },
      {
        "id": "ours",
        "true": 0.07761263847351074,
        "swapped": 0.6918473839759827,
        "ratio": 8.9141072586021
      },
      {
        "id": "driftworld",
        "true": 0.1910097301006317,
        "swapped": 0.724852979183197,
        "ratio": 3.794848455109145
      }
    ],
    "can": [
      {
        "id": "spatial",
        "true": 0.00732610234990716,
        "swapped": 0.04514318332076073,
        "ratio": 6.161964597905571
      },
      {
        "id": "ours",
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        "ratio": 5.7214692385596875
      },
      {
        "id": "driftworld",
        "true": 0.01391234714537859,
        "swapped": 0.04355185851454735,
        "ratio": 3.1304465062183575
      }
    ]
  },
  "references": {
    "pusht": [
      {
        "name": "DriftWorld released",
        "mse": 0.0085,
        "moving_mse": 0.1182,
        "lpips": 0.0163,
        "nfe": 1,
        "note": "1.18M training steps; exclusion of our evaluation episodes is not established."
      },
      {
        "name": "GPC released",
        "mse": 0.0192,
        "moving_mse": 0.2446,
        "lpips": 0.0324,
        "nfe": 12,
        "note": "Longer training schedule; exclusion of our evaluation episodes is not established."
      }
    ],
    "can": [
      {
        "name": "DriftWorld released (can_1view)",
        "mse": 0.0525,
        "moving_mse": 0.0662,
        "lpips": 0.0676,
        "nfe": 1,
        "note": "Likely rendering mismatch; not a controlled comparison."
      }
    ]
  },
  "source_files": [
    "docs/runs/matched-budget-baselines.md",
    "docs/current/2026-09-26T060000Z--final-comparison-all-methods-quality-nfe-latency.md",
    "docs/runs/inference-latency.json",
    "docs/runs/policy-evaluation-correlation.md",
    "docs/current/2026-09-25T224501Z--paper-update-new-results-ready-to-paste-table-rows-and-narrative-additions.md"
  ]
}