{
 "about": {
  "what": "Level 2 of the measured grid (tools/learn_check.py): every cell trained for 250 iterations under the settings below and compared with the method as shipped under the same settings. One run per cell; a statement about training dynamics on 8 frames of one scene, not an accuracy measurement. See docs/advanced_guides/learns_like_reference.md.",
  "settings": {
   "iterations": 250,
   "frames": 8,
   "predict_frames": 4,
   "split": "sample",
   "seed": 0,
   "schedule": "constant",
   "window": 25
  },
  "tolerance": 1.25,
  "rising_above": 0.1,
  "step": 0.05,
  "calibrated": {
   "GSNet": {
    "tolerance": 1.25,
    "rising_above": 0.2
   },
   "EconomicGrasp": {
    "tolerance": 1.25,
    "rising_above": 0.15
   },
   "FineGrasp": {
    "tolerance": 1.25,
    "rising_above": 0.1
   },
   "GraspNet-baseline": {
    "tolerance": 1.25,
    "rising_above": 0.1
   },
   "Scale-Balanced-Grasp": {
    "tolerance": 1.25,
    "rising_above": 0.1
   },
   "HGGD": {
    "tolerance": 1.55,
    "rising_above": 0.2
   }
  },
  "outcomes": {
   "fails": "the run did not finish: an exception, a crash, a timeout, or no real frame read. A run that died of GPU memory is not recorded (it says nothing about the config) and is run again",
   "no reference": "the method as shipped has no finished run under the same settings: nothing to compare with",
   "diverging": "a loss term is rising over the last half of the run (see `rising`), a loss or a weight became non-finite, or no grasp was predicted on any of the 4 frames while the reference predicts some",
   "worse": "not diverging, and a comparable loss term ends above the tolerance of the method times the reference's (mean of the last 25 iterations), or a part of the model that holds trainable parameters received no gradient in any iteration",
   "not comparable": "not diverging, nothing worse, but the cell changes the definition of every term the reference has: there is no term to compare",
   "on a par": "every comparable loss term ends within the tolerance of the method, at least one term is comparable, nothing rises, every value is finite and a frame has a grasp. A term far below the reference's is reported (`lower`), not judged"
  },
  "measures": {
   "mean": "the mean of a loss term over the last 25 of the 250 iterations (reported, finite values; the total `loss` is not judged, it sums terms whose definitions may differ)",
   "ratio": "the cell's mean divided by the reference's mean of the same term",
   "rise": "over the last half of the run (iterations 126 to 250), the mean of its second half divided by the mean of its first half, minus 1 (the middle iteration of an odd count in neither half): +0.30 means the term ended 30 % higher than it was half-way",
   "tolerance": "per method: 1.25, or the first multiple of 0.05 above the largest ratio between two seeds of its reference (any term but the total, either way round), when that is larger",
   "rising": "a rise above the rising threshold of the method that also exceeds the reference's rise of the term by more than it (the rise alone for a term the reference does not report); the threshold is 0.1, or the first multiple of 0.05 above the largest difference between the rises of one term under two seeds of the reference, when that is larger",
   "lower": "a comparable term below 1/tolerance of the reference's: reported, not judged"
  },
  "not_comparable": {
   "loss": "a loss preset replaces the function of the term it is put in",
   "head": "a head bundle defines the targets and the loss of every head term (score, width, angle, depth, tolerance)",
   "assigner": "an assigner changes the labels the view stage and the head see (a view stage sees the labels through the assigner only): every view and head term",
   "stage code": "a proposal or view stage owns its targets and its loss: one whose class computes them with other code (its own `loss` or target methods, not inherited from the reference's stage) defines every term of that stage anew; one that computes them as the reference's does, with the same loss options, keeps them (a proposal that changes only how it samples)",
   "presence": "a term only one of the two runs reports",
   "sign": "a term whose mean is not positive (a weighted loss can go below zero)"
  },
  "calibration": "A cell and its reference are two runs, so a ratio away from 1 means something only beyond what two runs of the very same config show. Every reference was therefore trained twice, under seed 0 and seed 1 (*The noise floor*). Under the five seed-based methods, a term that has settled (it rose or fell by less than 10 % over the last half) agrees within 7 % between the seeds; a term still falling steeply at the end differs more (EconomicGrasp's graspness by 1.32x), and HGGD at its peak rate differs by up to 1.55x (angle, offsets). One tolerance for all would be blind under the stable methods or trigger-happy under HGGD, so each method gets its own: 1.25 (the plan's value, more than three times the spread of a settled term) unless its references spread more, then the first multiple of 0.05 above their largest ratio. The rising threshold follows the same rule from the rises. The spread comes from one pair of runs per method: a third seed would firm it up",
  "fields": {
   "id, kind, method": "the cell of the grid (tools/probe_grid.py), its kind (KINDS) and method",
   "option": "the slot=choice pairs of its compose request",
   "level1": "its level-1 verdict (20 iterations)",
   "outcome, reasons": "the outcome (about.outcomes) and what decided it",
   "notes": "what is reported, not judged: lower terms, a level-2 run that is runs-unstable for another reason than a non-finite value, no grasp as for the reference",
   "terms": "per loss term: [cell's mean, reference's mean, ratio] over the last window, or the reason it is not comparable (about.not_comparable)",
   "rise": "per loss term: its rise over the last half of the run (about.measures)",
   "grasps_per_frame, score_median": "grasps predicted on each of the predicted frames, and the median score of each (null for a frame without a grasp)",
   "constant_scores": "true when every predicted grasp of a frame has the same score, on every frame with a grasp: the score head ignores its input",
   "no_gradient, unchanged, checked": "units without a gradient, parts whose weights did not change, and [units, parts] checked (grasppanda.combine.probe.JUDGE_FIELDS)",
   "schedule, rate": "how the probe set the learning rate: `constant` at `rate` (the recipe's peak, scaled to the batch), or `recipe` for a cell whose request sets the schedule",
   "probe, compose, config_hash, run": "the commands, the config hash (with the seed for a seeded run) and the run that measured it (about.runs)",
   "seconds": "wall time of the probe, measured on a shared machine"
  },
  "noise": {
   "GSNet": {
    "seed 1": {
     "loss/objectness": [
      0.1562,
      0.149,
      0.954,
      -0.219,
      -0.411
     ],
     "loss/graspness": [
      0.07598,
      0.08055,
      1.06,
      -0.369,
      -0.344
     ],
     "loss/view": [
      0.8476,
      0.7787,
      0.919,
      0.209,
      0.139
     ],
     "loss/score": [
      0.0313,
      0.03024,
      0.966,
      0.199,
      0.244
     ],
     "loss/width": [
      0.101,
      0.1005,
      0.995,
      -0.058,
      -0.093
     ],
     "loss": [
      1.212,
      1.139,
      0.94,
      0.039,
      -0.065
     ]
    }
   },
   "EconomicGrasp": {
    "seed 1": {
     "loss/objectness": [
      0.1259,
      0.1147,
      0.911,
      -0.135,
      -0.243
     ],
     "loss/graspness": [
      0.06338,
      0.05403,
      0.852,
      -0.43,
      -0.441
     ],
     "loss/view": [
      0.8303,
      0.8172,
      0.984,
      0.035,
      0.018
     ],
     "loss/angle": [
      1.543,
      1.599,
      1.036,
      0.032,
      0.061
     ],
     "loss/depth": [
      0.7779,
      0.8287,
      1.065,
      0.026,
      0.061
     ],
     "loss/score": [
      1.31,
      1.373,
      1.049,
      0.036,
      0.075
     ],
     "loss/width": [
      0.5737,
      0.5985,
      1.043,
      -0.123,
      -0.112
     ],
     "loss": [
      5.224,
      5.386,
      1.031,
      -0.003,
      0.016
     ]
    }
   },
   "FineGrasp": {
    "seed 1": {
     "loss/objectness": [
      0.08986,
      0.09015,
      1.003,
      -0.173,
      -0.195
     ],
     "loss/graspness": [
      0.04722,
      0.04895,
      1.037,
      -0.284,
      -0.25
     ],
     "loss/view": [
      0.7334,
      0.7759,
      1.058,
      -0.025,
      -0.003
     ],
     "loss/angle": [
      0.9369,
      0.9471,
      1.011,
      -0.162,
      -0.152
     ],
     "loss/depth": [
      0.4363,
      0.4352,
      0.997,
      -0.135,
      -0.133
     ],
     "loss/score": [
      0.8125,
      0.8199,
      1.009,
      -0.127,
      -0.122
     ],
     "loss/width": [
      0.3151,
      0.3147,
      0.999,
      -0.219,
      -0.235
     ],
     "loss": [
      3.371,
      3.432,
      1.018,
      -0.133,
      -0.126
     ]
    }
   },
   "GraspNet-baseline": {
    "seed 1": {
     "loss/objectness": [
      0.3739,
      0.3587,
      0.96,
      -0.066,
      -0.09
     ],
     "loss/view": [
      0.02976,
      0.02988,
      1.004,
      -0.036,
      -0.051
     ],
     "loss/score": [
      0.02246,
      0.02063,
      0.918,
      -0.05,
      -0.061
     ],
     "loss/angle": [
      0.3337,
      0.3301,
      0.989,
      -0.049,
      -0.063
     ],
     "loss/width": [
      0.01289,
      0.01439,
      1.117,
      -0.178,
      -0.229
     ],
     "loss/tolerance": [
      0.02008,
      0.02065,
      1.028,
      -0.365,
      -0.327
     ],
     "loss": [
      0.7927,
      0.7744,
      0.977,
      -0.072,
      -0.089
     ]
    }
   },
   "Scale-Balanced-Grasp": {
    "seed 1": {
     "loss/objectness": [
      0.1975,
      0.1846,
      0.935,
      -0.092,
      -0.129
     ],
     "loss/view": [
      0.08244,
      0.07993,
      0.97,
      -0.016,
      -0.037
     ],
     "loss/score": [
      0.01418,
      0.01409,
      0.994,
      0.004,
      -0.024
     ],
     "loss/angle": [
      0.3132,
      0.3111,
      0.993,
      -0.062,
      -0.078
     ],
     "loss/width": [
      0.01146,
      0.009845,
      0.859,
      0.136,
      0.191
     ],
     "loss/tolerance": [
      0.007067,
      0.008327,
      1.178,
      -0.228,
      -0.247
     ],
     "loss": [
      0.6258,
      0.6078,
      0.971,
      -0.064,
      -0.087
     ]
    }
   },
   "HGGD": {
    "seed 1": {
     "loss/heatmap": [
      1.405,
      1.771,
      1.26,
      -0.027,
      -0.095
     ],
     "loss/angle": [
      0.6582,
      1.019,
      1.548,
      -0.157,
      -0.135
     ],
     "loss/offsets": [
      0.2157,
      0.2554,
      1.184,
      -0.158,
      -0.031
     ],
     "loss/anchor": [
      0.7677,
      0.7178,
      0.935,
      -0.06,
      -0.219
     ],
     "loss/anchor_offset": [
      0.1935,
      0.1942,
      1.003,
      -0.085,
      -0.238
     ],
     "loss": [
      3.24,
      3.957,
      1.221,
      -0.078,
      -0.136
     ]
    }
   }
  },
  "kinds": {
   "encoder": {
    "selected": 230,
    "measured": 230,
    "the reference itself": 5
   },
   "proposal": {
    "selected": 111,
    "measured": 111,
    "the reference itself": 5
   },
   "view": {
    "selected": 96,
    "measured": 96,
    "the reference itself": 5
   },
   "assigner": {
    "selected": 6,
    "measured": 6,
    "the reference itself": 5
   },
   "grouper": {
    "selected": 128,
    "measured": 128,
    "the reference itself": 5
   },
   "head": {
    "selected": 41,
    "measured": 41,
    "the reference itself": 5
   },
   "loss": {
    "selected": 130,
    "measured": 130,
    "the reference itself": 0
   },
   "recipe": {
    "selected": 204,
    "measured": 204,
    "the reference itself": 1
   },
   "image-encoder": {
    "selected": 37,
    "measured": 37,
    "the reference itself": 0
   }
  },
  "left_out": {
   "post": "post-processing trains nothing, so a training run says nothing about it; its check is to compare the grasps in and out of the chain (and the evaluator) on 20 frames of a trained method, which is not part of this page yet",
   "stage-set, cross": "several slots replaced at once: no single stage of the reference to compare with"
  },
  "level1": "docs/advanced_guides/measured_combinations.json",
  "runs": {
   "2026-10-15@1c8fd45": {
    "date": "2026-10-15",
    "commit": "1c8fd45",
    "torch": "2.7.1+cu118",
    "python": "3.12.7",
    "gpu": "NVIDIA RTX A6000",
    "probes_at_a_time": 1,
    "scale_statistic_sha256": "909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd",
    "libraries": {
     "spconv": "2.3.8",
     "timm": "1.0.30",
     "transformers": "5.19.0",
     "torchvision": "0.22.1+cu118",
     "torch_geometric": "2.8.1",
     "torch_cluster": "1.6.3+pt27cu118",
     "fpsample": "1.0.2",
     "kornia": "0.8.3",
     "roma": "1.6.1",
     "trimesh": "5.1.1",
     "pytorch_optimizer": "4.0.0",
     "schedulefree": "1.4.1",
     "ocnn": "2.3.3",
     "mamba_ssm": "2.3.2.post1",
     "healpix": "2025.1"
    }
   },
   "2026-10-16@1c8fd45": {
    "date": "2026-10-16",
    "commit": "1c8fd45",
    "torch": "2.7.1+cu118",
    "python": "3.12.7",
    "gpu": "NVIDIA RTX A6000",
    "probes_at_a_time": 1,
    "scale_statistic_sha256": "909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd",
    "libraries": {
     "spconv": "2.3.8",
     "timm": "1.0.30",
     "transformers": "5.19.0",
     "torchvision": "0.22.1+cu118",
     "torch_geometric": "2.8.1",
     "torch_cluster": "1.6.3+pt27cu118",
     "fpsample": "1.0.2",
     "kornia": "0.8.3",
     "roma": "1.6.1",
     "trimesh": "5.1.1",
     "pytorch_optimizer": "4.0.0",
     "schedulefree": "1.4.1",
     "ocnn": "2.3.3",
     "mamba_ssm": "2.3.2.post1",
     "healpix": "2025.1"
    }
   },
   "2026-10-16@c43ea39": {
    "date": "2026-10-16",
    "commit": "c43ea39",
    "torch": "2.7.1+cu118",
    "python": "3.12.7",
    "gpu": "NVIDIA RTX A6000",
    "probes_at_a_time": 1,
    "scale_statistic_sha256": "909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd",
    "libraries": {
     "spconv": "2.3.8",
     "timm": "1.0.30",
     "transformers": "5.19.0",
     "torchvision": "0.22.1+cu118",
     "torch_geometric": "2.8.1",
     "torch_cluster": "1.6.3+pt27cu118",
     "fpsample": "1.0.2",
     "kornia": "0.8.3",
     "roma": "1.6.1",
     "trimesh": "5.1.1",
     "pytorch_optimizer": "4.0.0",
     "schedulefree": "1.4.1",
     "ocnn": "2.3.3",
     "mamba_ssm": "2.3.2.post1",
     "healpix": "2025.1"
    }
   },
   "2026-10-17@c43ea39": {
    "date": "2026-10-17",
    "commit": "c43ea39",
    "torch": "2.7.1+cu118",
    "python": "3.12.7",
    "gpu": "NVIDIA RTX A6000",
    "probes_at_a_time": 1,
    "scale_statistic_sha256": "909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd",
    "libraries": {
     "spconv": "2.3.8",
     "timm": "1.0.30",
     "transformers": "5.19.0",
     "torchvision": "0.22.1+cu118",
     "torch_geometric": "2.8.1",
     "torch_cluster": "1.6.3+pt27cu118",
     "fpsample": "1.0.2",
     "kornia": "0.8.3",
     "roma": "1.6.1",
     "trimesh": "5.1.1",
     "pytorch_optimizer": "4.0.0",
     "schedulefree": "1.4.1",
     "ocnn": "2.3.3",
     "mamba_ssm": "2.3.2.post1",
     "healpix": "2025.1"
    }
   }
  }
 },
 "references": [
  {"id": "reference/GSNet", "method": "GSNet", "verdict": "runs", "terms": {"loss/objectness": 0.1562, "loss/graspness": 0.07598, "loss/view": 0.8476, "loss/score": 0.0313, "loss/width": 0.101, "loss": 1.212}, "rise": {"loss/objectness": -0.219, "loss/graspness": -0.369, "loss/view": 0.209, "loss/score": 0.199, "loss/width": -0.0581, "loss": 0.0392}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07221, 0.07247, 0.07485, 0.07539], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe gsnet/gsnet_sunet14_g1b-realsense_10e --iters 250 --frames 8 --predict-frames 4 --schedule constant", "config_hash": "2aefab0823deea55", "run": "2026-10-15@1c8fd45", "seconds": 163.9},
  {"id": "reference/GSNet@seed1", "method": "GSNet", "verdict": "runs", "terms": {"loss/objectness": 0.149, "loss/graspness": 0.08055, "loss/view": 0.7787, "loss/score": 0.03024, "loss/width": 0.1005, "loss": 1.139}, "rise": {"loss/objectness": -0.411, "loss/graspness": -0.344, "loss/view": 0.139, "loss/score": 0.244, "loss/width": -0.0934, "loss": -0.0646}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06627, 0.07284, 0.07451, 0.08081], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe gsnet/gsnet_sunet14_g1b-realsense_10e --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts runtime.seed=1", "config_hash": "954db75a0b24946a", "run": "2026-10-15@1c8fd45", "seconds": 165.8},
  {"id": "reference/EconomicGrasp", "method": "EconomicGrasp", "verdict": "runs", "terms": {"loss/objectness": 0.1259, "loss/graspness": 0.06338, "loss/view": 0.8303, "loss/angle": 1.543, "loss/depth": 0.7779, "loss/score": 1.31, "loss/width": 0.5737, "loss": 5.224}, "rise": {"loss/objectness": -0.135, "loss/graspness": -0.43, "loss/view": 0.035, "loss/angle": 0.0324, "loss/depth": 0.026, "loss/score": 0.0361, "loss/width": -0.123, "loss": -0.00279}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.02, -1.835, -1.795, -0.8489], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --iters 250 --frames 8 --predict-frames 4 --schedule constant", "config_hash": "1c0875d35711ce77", "run": "2026-10-15@1c8fd45", "seconds": 159.7},
  {"id": "reference/EconomicGrasp@seed1", "method": "EconomicGrasp", "verdict": "runs", "terms": {"loss/objectness": 0.1147, "loss/graspness": 0.05403, "loss/view": 0.8172, "loss/angle": 1.599, "loss/depth": 0.8287, "loss/score": 1.373, "loss/width": 0.5985, "loss": 5.386}, "rise": {"loss/objectness": -0.243, "loss/graspness": -0.441, "loss/view": 0.018, "loss/angle": 0.0614, "loss/depth": 0.0613, "loss/score": 0.0747, "loss/width": -0.112, "loss": 0.0164}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.804, -1.8, -1.764, -1.682], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts runtime.seed=1", "config_hash": "b8d3f35ea7b86854", "run": "2026-10-15@1c8fd45", "seconds": 136.5},
  {"id": "reference/FineGrasp", "method": "FineGrasp", "verdict": "runs", "terms": {"loss/objectness": 0.08986, "loss/graspness": 0.04722, "loss/view": 0.7334, "loss/angle": 0.9369, "loss/depth": 0.4363, "loss/score": 0.8125, "loss/width": 0.3151, "loss": 3.371}, "rise": {"loss/objectness": -0.173, "loss/graspness": -0.284, "loss/view": -0.0248, "loss/angle": -0.162, "loss/depth": -0.135, "loss/score": -0.127, "loss/width": -0.219, "loss": -0.133}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.371, -2.227, -3.242, -3.205], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe finegrasp/finegrasp_sunet14_g1b-realsense_10e --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "config_hash": "254815dc944eef7c", "run": "2026-10-15@1c8fd45", "seconds": 669.0},
  {"id": "reference/FineGrasp@seed1", "method": "FineGrasp", "verdict": "runs", "terms": {"loss/objectness": 0.09015, "loss/graspness": 0.04895, "loss/view": 0.7759, "loss/angle": 0.9471, "loss/depth": 0.4352, "loss/score": 0.8199, "loss/width": 0.3147, "loss": 3.432}, "rise": {"loss/objectness": -0.195, "loss/graspness": -0.25, "loss/view": -0.00283, "loss/angle": -0.152, "loss/depth": -0.133, "loss/score": -0.122, "loss/width": -0.235, "loss": -0.126}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.375, -2.674, -2.848, -3.0], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe finegrasp/finegrasp_sunet14_g1b-realsense_10e --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts runtime.seed=1", "config_hash": "3a6391f44ee4f1b0", "run": "2026-10-15@1c8fd45", "seconds": 676.4},
  {"id": "reference/GraspNet-baseline", "method": "GraspNet-baseline", "verdict": "runs", "terms": {"loss/objectness": 0.3739, "loss/view": 0.02976, "loss/score": 0.02246, "loss/angle": 0.3337, "loss/width": 0.01289, "loss/tolerance": 0.02008, "loss": 0.7927}, "rise": {"loss/objectness": -0.0661, "loss/view": -0.0357, "loss/score": -0.0497, "loss/angle": -0.0488, "loss/width": -0.178, "loss/tolerance": -0.365, "loss": -0.0722}, "grasps_per_frame": [413, 249, 490, 498], "no_gradient": [], "unchanged": [], "score_median": [0.2047, 0.1251, 0.2322, 0.2018], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --iters 250 --frames 8 --predict-frames 4 --schedule constant", "config_hash": "97137012bcdac2ca", "run": "2026-10-15@1c8fd45", "seconds": 97.8},
  {"id": "reference/GraspNet-baseline@seed1", "method": "GraspNet-baseline", "verdict": "runs", "terms": {"loss/objectness": 0.3587, "loss/view": 0.02988, "loss/score": 0.02063, "loss/angle": 0.3301, "loss/width": 0.01439, "loss/tolerance": 0.02065, "loss": 0.7744}, "rise": {"loss/objectness": -0.0903, "loss/view": -0.0505, "loss/score": -0.0612, "loss/angle": -0.0632, "loss/width": -0.229, "loss/tolerance": -0.327, "loss": -0.0891}, "grasps_per_frame": [517, 202, 375, 257], "no_gradient": [], "unchanged": [], "score_median": [0.1442, 0.1407, 0.116, 0.106], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts runtime.seed=1", "config_hash": "aa6d2e933b9edbbe", "run": "2026-10-15@1c8fd45", "seconds": 80.6},
  {"id": "reference/Scale-Balanced-Grasp", "method": "Scale-Balanced-Grasp", "verdict": "runs", "terms": {"loss/objectness": 0.1975, "loss/view": 0.08244, "loss/score": 0.01418, "loss/angle": 0.3132, "loss/width": 0.01146, "loss/tolerance": 0.007067, "loss": 0.6258}, "rise": {"loss/objectness": -0.0923, "loss/view": -0.0155, "loss/score": 0.00389, "loss/angle": -0.0625, "loss/width": 0.136, "loss/tolerance": -0.228, "loss": -0.0642}, "grasps_per_frame": [8, 16, 3, 5], "no_gradient": [], "unchanged": [], "score_median": [0.04991, 0.0513, 0.01672, 0.01041], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "config_hash": "61901898cd133251", "run": "2026-10-15@1c8fd45", "seconds": 141.5},
  {"id": "reference/Scale-Balanced-Grasp@seed1", "method": "Scale-Balanced-Grasp", "verdict": "runs", "terms": {"loss/objectness": 0.1846, "loss/view": 0.07993, "loss/score": 0.01409, "loss/angle": 0.3111, "loss/width": 0.009845, "loss/tolerance": 0.008327, "loss": 0.6078}, "rise": {"loss/objectness": -0.129, "loss/view": -0.0371, "loss/score": -0.0241, "loss/angle": -0.0785, "loss/width": 0.191, "loss/tolerance": -0.247, "loss": -0.0871}, "grasps_per_frame": [244, 295, 315, 272], "no_gradient": [], "unchanged": [], "score_median": [0.07849, 0.06561, 0.07936, 0.06278], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd runtime.seed=1", "config_hash": "30bfc3cf4c51805e", "run": "2026-10-15@1c8fd45", "seconds": 113.4},
  {"id": "family/HGGD", "method": "HGGD", "verdict": "runs", "terms": {"loss/heatmap": 1.405, "loss/angle": 0.6582, "loss/offsets": 0.2157, "loss/anchor": 0.7677, "loss/anchor_offset": 0.1935, "loss": 3.24}, "rise": {"loss/heatmap": -0.0268, "loss/angle": -0.157, "loss/offsets": -0.158, "loss/anchor": -0.0605, "loss/anchor_offset": -0.0853, "loss": -0.0776}, "grasps_per_frame": [477, 474, 475, 428], "no_gradient": [], "unchanged": [], "score_median": [0.2064, 0.2074, 0.2064, 0.2013], "checked": [17, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe hggd/hggd_r34w8_g1b-realsense_15e --iters 250 --frames 8 --predict-frames 4 --schedule constant", "config_hash": "d4bf1430f845e44f", "run": "2026-10-15@1c8fd45", "seconds": 204.4},
  {"id": "family/HGGD@seed1", "method": "HGGD", "verdict": "runs", "terms": {"loss/heatmap": 1.771, "loss/angle": 1.019, "loss/offsets": 0.2554, "loss/anchor": 0.7178, "loss/anchor_offset": 0.1942, "loss": 3.957}, "rise": {"loss/heatmap": -0.0948, "loss/angle": -0.135, "loss/offsets": -0.0307, "loss/anchor": -0.219, "loss/anchor_offset": -0.238, "loss": -0.136}, "grasps_per_frame": [432, 422, 432, 432], "no_gradient": [], "unchanged": [], "score_median": [0.1397, 0.1591, 0.1396, 0.1391], "checked": [17, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe hggd/hggd_r34w8_g1b-realsense_15e --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts runtime.seed=1", "config_hash": "4c532f8dc2672036", "run": "2026-10-15@1c8fd45", "seconds": 191.5}
 ],
 "cells": [
  {"id": "encoder/GSNet/ASSANet", "kind": "encoder", "method": "GSNet", "option": "backbone=assanet", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.71x, loss/graspness 0.41x"], "terms": {"loss/objectness": [0.1104, 0.1562, 0.707], "loss/graspness": [0.03135, 0.07598, 0.413], "loss/view": [0.8192, 0.8476, 0.966], "loss/score": [0.0359, 0.0313, 1.147], "loss/width": [0.0819, 0.101, 0.811]}, "rise": {"loss/objectness": -0.102, "loss/graspness": -0.2, "loss/view": -0.023, "loss/score": 0.006, "loss/width": -0.06}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07087, 0.07524, 0.07612, 0.0674], "checked": [10, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__ASSANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=assanet -o encoder__GSNet__ASSANet.yaml", "config_hash": "b3be4f967478db39", "run": "2026-10-15@1c8fd45", "seconds": 126.0},
  {"id": "encoder/EconomicGrasp/ASSANet", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=assanet", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.68x, loss/angle 0.76x, loss/depth 0.76x, loss/score 0.77x, loss/width 0.68x"], "terms": {"loss/objectness": [0.1322, 0.1259, 1.05], "loss/graspness": [0.04324, 0.06338, 0.682], "loss/view": [0.8362, 0.8303, 1.007], "loss/angle": [1.176, 1.543, 0.762], "loss/depth": [0.5919, 0.7779, 0.761], "loss/score": [1.006, 1.31, 0.768], "loss/width": [0.3892, 0.5737, 0.678]}, "rise": {"loss/objectness": -0.136, "loss/graspness": -0.243, "loss/view": -0.003, "loss/angle": -0.072, "loss/depth": -0.083, "loss/score": -0.072, "loss/width": -0.211}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.108, -1.32, -1.989, -1.313], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__ASSANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=assanet -o encoder__EconomicGrasp__ASSANet.yaml", "config_hash": "34deee342e73a4f6", "run": "2026-10-15@1c8fd45", "seconds": 146.5},
  {"id": "encoder/FineGrasp/ASSANet", "kind": "encoder", "method": "FineGrasp", "option": "backbone=assanet", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.80x"], "terms": {"loss/objectness": [0.1039, 0.08986, 1.156], "loss/graspness": [0.04143, 0.04722, 0.877], "loss/view": [0.7461, 0.7334, 1.017], "loss/angle": [0.7599, 0.9369, 0.811], "loss/depth": [0.3712, 0.4363, 0.851], "loss/score": [0.6883, 0.8125, 0.847], "loss/width": [0.2513, 0.3151, 0.798]}, "rise": {"loss/objectness": -0.125, "loss/graspness": -0.214, "loss/view": -0.044, "loss/angle": -0.118, "loss/depth": -0.089, "loss/score": -0.084, "loss/width": -0.189}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.133, -3.279, -4.135, -5.407], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__ASSANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=assanet -o encoder__FineGrasp__ASSANet.yaml", "config_hash": "a68e8aceaeec1a8a", "run": "2026-10-16@1c8fd45", "seconds": 485.6},
  {"id": "encoder/GraspNet-baseline/ASSANet", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=assanet", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.43x, loss/tolerance 0.71x"], "terms": {"loss/objectness": [0.1606, 0.3739, 0.43], "loss/view": [0.02496, 0.02976, 0.839], "loss/score": [0.01996, 0.02246, 0.889], "loss/angle": [0.3278, 0.3337, 0.982], "loss/width": [0.01479, 0.01289, 1.148], "loss/tolerance": [0.01422, 0.02008, 0.708]}, "rise": {"loss/objectness": -0.062, "loss/view": -0.049, "loss/score": -0.095, "loss/angle": -0.048, "loss/width": -0.036, "loss/tolerance": -0.404}, "grasps_per_frame": [514, 453, 524, 513], "no_gradient": [], "unchanged": [], "score_median": [0.3136, 0.3033, 0.3093, 0.2828], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__ASSANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=assanet -o encoder__GraspNet-baseline__ASSANet.yaml", "config_hash": "48cbdee886b2f07c", "run": "2026-10-15@1c8fd45", "seconds": 112.5},
  {"id": "encoder/Scale-Balanced-Grasp/ASSANet", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=assanet", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.56x, loss/width 0.69x, loss/tolerance 0.48x"], "terms": {"loss/objectness": [0.1103, 0.1975, 0.558], "loss/view": [0.07951, 0.08244, 0.964], "loss/score": [0.01237, 0.01418, 0.872], "loss/angle": [0.2879, 0.3132, 0.919], "loss/width": [0.007893, 0.01146, 0.689], "loss/tolerance": [0.003389, 0.007067, 0.48]}, "rise": {"loss/objectness": -0.105, "loss/view": -0.029, "loss/score": -0.058, "loss/angle": -0.078, "loss/width": 0.071, "loss/tolerance": -0.224}, "grasps_per_frame": [146, 146, 141, 119], "no_gradient": [], "unchanged": [], "score_median": [0.03541, 0.03032, 0.03102, 0.0366], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__ASSANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=assanet -o encoder__Scale-Balanced-Grasp__ASSANet.yaml", "config_hash": "0657ad7c52d6afa8", "run": "2026-10-15@1c8fd45", "seconds": 160.9},
  {"id": "encoder/GSNet/DGCNN@dgcnn-static", "kind": "encoder", "method": "GSNet", "option": "backbone=dgcnn-static", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.861x the reference (tolerance 1.25)", "loss/graspness 2.601x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.68x, loss/score 0.47x"], "terms": {"loss/objectness": [0.4468, 0.1562, 2.861], "loss/graspness": [0.1976, 0.07598, 2.601], "loss/view": [0.5723, 0.8476, 0.675], "loss/score": [0.01457, 0.0313, 0.466], "loss/width": [0.1237, 0.101, 1.224]}, "rise": {"loss/objectness": -0.111, "loss/graspness": -0.067, "loss/view": 0.079, "loss/score": 0.029, "loss/width": -0.111}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04461, 0.04347, 0.04193, 0.03889], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__DGCNN@dgcnn-static.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=dgcnn-static -o encoder__GSNet__DGCNN@dgcnn-static.yaml", "config_hash": "267350a05ac4fc69", "run": "2026-10-15@1c8fd45", "seconds": 234.9},
  {"id": "encoder/GSNet/DGCNN@dgcnn", "kind": "encoder", "method": "GSNet", "option": "backbone=dgcnn", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.989x the reference (tolerance 1.25)", "loss/graspness 3.057x the reference (tolerance 1.25)", "loss/width 1.324x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.66x, loss/score 0.43x"], "terms": {"loss/objectness": [0.4668, 0.1562, 2.989], "loss/graspness": [0.2323, 0.07598, 3.057], "loss/view": [0.5575, 0.8476, 0.658], "loss/score": [0.01357, 0.0313, 0.434], "loss/width": [0.1338, 0.101, 1.324]}, "rise": {"loss/objectness": -0.157, "loss/graspness": 0.014, "loss/view": 0.208, "loss/score": 0.202, "loss/width": -0.013}, "grasps_per_frame": [0, 42, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [null, 0.07418, 0.06627, 0.1095], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__DGCNN@dgcnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=dgcnn -o encoder__GSNet__DGCNN@dgcnn.yaml", "config_hash": "8c3ff74cea069dde", "run": "2026-10-15@1c8fd45", "seconds": 271.8},
  {"id": "encoder/EconomicGrasp/DGCNN@dgcnn-static", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=dgcnn-static", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.719x the reference (tolerance 1.25)", "loss/graspness 2.800x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.74x, loss/depth 0.78x, loss/score 0.76x"], "terms": {"loss/objectness": [0.3423, 0.1259, 2.719], "loss/graspness": [0.1775, 0.06338, 2.8], "loss/view": [0.7697, 0.8303, 0.927], "loss/angle": [1.142, 1.543, 0.74], "loss/depth": [0.6038, 0.7779, 0.776], "loss/score": [0.9887, 1.31, 0.755], "loss/width": [0.638, 0.5737, 1.112]}, "rise": {"loss/objectness": -0.077, "loss/graspness": -0.017, "loss/view": 0.009, "loss/angle": -0.059, "loss/depth": -0.105, "loss/score": -0.052, "loss/width": -0.053}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.051, -1.239, -1.08, -1.07], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__DGCNN@dgcnn-static.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=dgcnn-static -o encoder__EconomicGrasp__DGCNN@dgcnn-static.yaml", "config_hash": "c5b809597ab76c86", "run": "2026-10-15@1c8fd45", "seconds": 282.5},
  {"id": "encoder/EconomicGrasp/DGCNN@dgcnn", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=dgcnn", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 3.437x the reference (tolerance 1.25)", "loss/graspness 3.513x the reference (tolerance 1.25)", "loss/width 1.337x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.73x, loss/score 0.74x"], "terms": {"loss/objectness": [0.4327, 0.1259, 3.437], "loss/graspness": [0.2227, 0.06338, 3.513], "loss/view": [0.7691, 0.8303, 0.926], "loss/angle": [1.131, 1.543, 0.733], "loss/depth": [0.6751, 0.7779, 0.868], "loss/score": [0.9697, 1.31, 0.74], "loss/width": [0.7671, 0.5737, 1.337]}, "rise": {"loss/objectness": -0.213, "loss/graspness": -0.022, "loss/view": -0.004, "loss/angle": 0.037, "loss/depth": 0.054, "loss/score": 0.032, "loss/width": -0.008}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.336, -1.61, -1.196, -1.065], "checked": [17, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__DGCNN@dgcnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=dgcnn -o encoder__EconomicGrasp__DGCNN@dgcnn.yaml", "config_hash": "c1a9fe70f7b6f426", "run": "2026-10-15@1c8fd45", "seconds": 413.7},
  {"id": "encoder/FineGrasp/DGCNN@dgcnn-static", "kind": "encoder", "method": "FineGrasp", "option": "backbone=dgcnn-static", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.743x the reference (tolerance 1.25)", "loss/graspness 3.626x the reference (tolerance 1.25)", "loss/width 1.382x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2465, 0.08986, 2.743], "loss/graspness": [0.1712, 0.04722, 3.626], "loss/view": [0.6816, 0.7334, 0.929], "loss/angle": [1.052, 0.9369, 1.123], "loss/depth": [0.481, 0.4363, 1.102], "loss/score": [0.8877, 0.8125, 1.092], "loss/width": [0.4353, 0.3151, 1.382]}, "rise": {"loss/objectness": -0.131, "loss/graspness": -0.169, "loss/view": 0.003, "loss/angle": 0.004, "loss/depth": -0.068, "loss/score": -0.008, "loss/width": -0.201}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.883, -1.775, -2.133, -1.761], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__DGCNN@dgcnn-static.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=dgcnn-static -o encoder__FineGrasp__DGCNN@dgcnn-static.yaml", "config_hash": "cf2f6d130c4513d7", "run": "2026-10-16@1c8fd45", "seconds": 666.3},
  {"id": "encoder/FineGrasp/DGCNN@dgcnn", "kind": "encoder", "method": "FineGrasp", "option": "backbone=dgcnn", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.605x the reference (tolerance 1.25)", "loss/graspness 4.052x the reference (tolerance 1.25)", "loss/width 1.587x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2341, 0.08986, 2.605], "loss/graspness": [0.1913, 0.04722, 4.052], "loss/view": [0.6654, 0.7334, 0.907], "loss/angle": [1.084, 0.9369, 1.157], "loss/depth": [0.5, 0.4363, 1.146], "loss/score": [0.9224, 0.8125, 1.135], "loss/width": [0.5001, 0.3151, 1.587]}, "rise": {"loss/objectness": -0.122, "loss/graspness": -0.07, "loss/view": -0.012, "loss/angle": -0.06, "loss/depth": -0.116, "loss/score": -0.077, "loss/width": -0.209}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.018, -4.018, -3.719, -2.385], "checked": [16, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__DGCNN@dgcnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=dgcnn -o encoder__FineGrasp__DGCNN@dgcnn.yaml", "config_hash": "43926fea7d0e62b1", "run": "2026-10-16@1c8fd45", "seconds": 786.2},
  {"id": "encoder/GraspNet-baseline/DGCNN@dgcnn-static", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=dgcnn-static", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.70x"], "terms": {"loss/objectness": [0.4128, 0.3739, 1.104], "loss/view": [0.03212, 0.02976, 1.079], "loss/score": [0.02011, 0.02246, 0.895], "loss/angle": [0.3381, 0.3337, 1.013], "loss/width": [0.01285, 0.01289, 0.997], "loss/tolerance": [0.0141, 0.02008, 0.702]}, "rise": {"loss/objectness": -0.044, "loss/view": -0.016, "loss/score": -0.064, "loss/angle": -0.04, "loss/width": -0.125, "loss/tolerance": -0.277}, "grasps_per_frame": [298, 427, 440, 518], "no_gradient": [], "unchanged": [], "score_median": [0.1312, 0.08205, 0.138, 0.1407], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__DGCNN@dgcnn-static.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=dgcnn-static -o encoder__GraspNet-baseline__DGCNN@dgcnn-static.yaml", "config_hash": "a41a919a009b85af", "run": "2026-10-15@1c8fd45", "seconds": 176.1},
  {"id": "encoder/GraspNet-baseline/DGCNN@dgcnn", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=dgcnn", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.256x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4694, 0.3739, 1.256], "loss/view": [0.03513, 0.02976, 1.181], "loss/score": [0.02136, 0.02246, 0.951], "loss/angle": [0.3475, 0.3337, 1.041], "loss/width": [0.01568, 0.01289, 1.217], "loss/tolerance": [0.01954, 0.02008, 0.973]}, "rise": {"loss/objectness": -0.034, "loss/view": -0.044, "loss/score": -0.013, "loss/angle": -0.024, "loss/width": -0.154, "loss/tolerance": -0.283}, "grasps_per_frame": [367, 486, 383, 754], "no_gradient": [], "unchanged": [], "score_median": [0.1482, 0.1145, 0.1429, 0.1337], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__DGCNN@dgcnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=dgcnn -o encoder__GraspNet-baseline__DGCNN@dgcnn.yaml", "config_hash": "52e15e9a0ef2d0de", "run": "2026-10-15@1c8fd45", "seconds": 236.0},
  {"id": "encoder/Scale-Balanced-Grasp/DGCNN@dgcnn-static", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=dgcnn-static", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.268x the reference (tolerance 1.25)", "loss/tolerance 1.299x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2504, 0.1975, 1.268], "loss/view": [0.08984, 0.08244, 1.09], "loss/score": [0.01271, 0.01418, 0.896], "loss/angle": [0.3042, 0.3132, 0.971], "loss/width": [0.01047, 0.01146, 0.914], "loss/tolerance": [0.009181, 0.007067, 1.299]}, "rise": {"loss/objectness": -0.074, "loss/view": 0.006, "loss/score": -0.077, "loss/angle": -0.086, "loss/width": -0.056, "loss/tolerance": -0.218}, "grasps_per_frame": [20, 27, 88, 90], "no_gradient": [], "unchanged": [], "score_median": [0.01754, 0.000909, 0.06177, 0.02212], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__DGCNN@dgcnn-static.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=dgcnn-static -o encoder__Scale-Balanced-Grasp__DGCNN@dgcnn-static.yaml", "config_hash": "a98ffdf806c1b03a", "run": "2026-10-15@1c8fd45", "seconds": 220.9},
  {"id": "encoder/Scale-Balanced-Grasp/DGCNN@dgcnn", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=dgcnn", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/objectness 1.602x the reference (tolerance 1.25)", "loss/tolerance 1.472x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3164, 0.1975, 1.602], "loss/view": [0.09416, 0.08244, 1.142], "loss/score": [0.01337, 0.01418, 0.943], "loss/angle": [0.3343, 0.3132, 1.067], "loss/width": [0.01222, 0.01146, 1.067], "loss/tolerance": [0.01041, 0.007067, 1.472]}, "rise": {"loss/objectness": -0.046, "loss/view": -0.015, "loss/score": -0.07, "loss/angle": -0.062, "loss/width": 0.061, "loss/tolerance": -0.264}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__DGCNN@dgcnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=dgcnn -o encoder__Scale-Balanced-Grasp__DGCNN@dgcnn.yaml", "config_hash": "c5531253612481d8", "run": "2026-10-15@1c8fd45", "seconds": 286.6},
  {"id": "encoder/GSNet/DeLA", "kind": "encoder", "method": "GSNet", "option": "backbone=dela", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.68x, loss/graspness 0.52x"], "terms": {"loss/objectness": [0.1063, 0.1562, 0.681], "loss/graspness": [0.03987, 0.07598, 0.525], "loss/view": [0.6984, 0.8476, 0.824], "loss/score": [0.02982, 0.0313, 0.953], "loss/width": [0.08318, 0.101, 0.823]}, "rise": {"loss/objectness": -0.177, "loss/graspness": -0.182, "loss/view": -0.059, "loss/score": -0.004, "loss/width": -0.084}, "grasps_per_frame": [0, 0, 2, 1], "no_gradient": [], "unchanged": [], "score_median": [null, null, 0.09814, 0.1098], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__DeLA.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=dela -o encoder__GSNet__DeLA.yaml", "config_hash": "0ec6c6ae92d13d1c", "run": "2026-10-15@1c8fd45", "seconds": 183.4},
  {"id": "encoder/EconomicGrasp/DeLA", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=dela", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.75x, loss/angle 0.75x, loss/depth 0.75x, loss/score 0.76x, loss/width 0.75x"], "terms": {"loss/objectness": [0.1263, 0.1259, 1.004], "loss/graspness": [0.0474, 0.06338, 0.748], "loss/view": [0.7385, 0.8303, 0.889], "loss/angle": [1.159, 1.543, 0.751], "loss/depth": [0.5796, 0.7779, 0.745], "loss/score": [1.0, 1.31, 0.764], "loss/width": [0.432, 0.5737, 0.753]}, "rise": {"loss/objectness": -0.127, "loss/graspness": -0.205, "loss/view": -0.03, "loss/angle": -0.082, "loss/depth": -0.105, "loss/score": -0.083, "loss/width": -0.213}, "grasps_per_frame": [0, 0, 2, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, -2.856, null], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__DeLA.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=dela -o encoder__EconomicGrasp__DeLA.yaml", "config_hash": "a5c7a7d34e73b42d", "run": "2026-10-15@1c8fd45", "seconds": 238.3},
  {"id": "encoder/FineGrasp/DeLA", "kind": "encoder", "method": "FineGrasp", "option": "backbone=dela", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "notes": ["lower than the reference: loss/angle 0.76x, loss/score 0.77x, loss/width 0.78x"], "terms": {"loss/objectness": [0.09953, 0.08986, 1.108], "loss/graspness": [0.04808, 0.04722, 1.018], "loss/view": [0.6325, 0.7334, 0.862], "loss/angle": [0.7087, 0.9369, 0.756], "loss/depth": [0.3503, 0.4363, 0.803], "loss/score": [0.6294, 0.8125, 0.775], "loss/width": [0.2452, 0.3151, 0.778]}, "rise": {"loss/objectness": -0.17, "loss/graspness": -0.198, "loss/view": -0.092, "loss/angle": -0.163, "loss/depth": -0.115, "loss/score": -0.123, "loss/width": -0.212}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__DeLA.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=dela -o encoder__FineGrasp__DeLA.yaml", "config_hash": "d9fe750543969ff0", "run": "2026-10-16@1c8fd45", "seconds": 591.4},
  {"id": "encoder/GraspNet-baseline/DeLA", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=dela", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.49x"], "terms": {"loss/objectness": [0.1848, 0.3739, 0.494], "loss/view": [0.02622, 0.02976, 0.881], "loss/score": [0.02061, 0.02246, 0.918], "loss/angle": [0.3376, 0.3337, 1.012], "loss/width": [0.01468, 0.01289, 1.139], "loss/tolerance": [0.01792, 0.02008, 0.893]}, "rise": {"loss/objectness": 0.048, "loss/view": -0.028, "loss/score": -0.067, "loss/angle": -0.038, "loss/width": -0.105, "loss/tolerance": -0.3}, "grasps_per_frame": [528, 484, 547, 535], "no_gradient": [], "unchanged": [], "score_median": [0.1283, 0.116, 0.159, 0.1826], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__DeLA.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=dela -o encoder__GraspNet-baseline__DeLA.yaml", "config_hash": "5a98fc98177abb01", "run": "2026-10-15@1c8fd45", "seconds": 146.3},
  {"id": "encoder/Scale-Balanced-Grasp/DeLA", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=dela", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.58x, loss/tolerance 0.77x"], "terms": {"loss/objectness": [0.1146, 0.1975, 0.58], "loss/view": [0.07584, 0.08244, 0.92], "loss/score": [0.01322, 0.01418, 0.932], "loss/angle": [0.2902, 0.3132, 0.927], "loss/width": [0.01059, 0.01146, 0.925], "loss/tolerance": [0.005471, 0.007067, 0.774]}, "rise": {"loss/objectness": -0.119, "loss/view": -0.036, "loss/score": -0.062, "loss/angle": -0.096, "loss/width": 0.039, "loss/tolerance": -0.366}, "grasps_per_frame": [144, 147, 147, 128], "no_gradient": [], "unchanged": [], "score_median": [0.0167, 0.02848, 0.02161, 0.01908], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__DeLA.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=dela -o encoder__Scale-Balanced-Grasp__DeLA.yaml", "config_hash": "f3bd538eb56c803e", "run": "2026-10-15@1c8fd45", "seconds": 195.4},
  {"id": "encoder/GSNet/LitePT@litept-structured3d", "kind": "encoder", "method": "GSNet", "option": "backbone=litept-structured3d", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.56x"], "terms": {"loss/objectness": [0.1286, 0.1562, 0.823], "loss/graspness": [0.04231, 0.07598, 0.557], "loss/view": [0.823, 0.8476, 0.971], "loss/score": [0.0312, 0.0313, 0.997], "loss/width": [0.08445, 0.101, 0.836]}, "rise": {"loss/objectness": -0.108, "loss/graspness": -0.195, "loss/view": 0.008, "loss/score": 0.024, "loss/width": -0.089}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07853, 0.08395, 0.07995, 0.08687], "checked": [9, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__LitePT@litept-structured3d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=litept-structured3d -o encoder__GSNet__LitePT@litept-structured3d.yaml", "config_hash": "384517b3dff4f4b7", "run": "2026-10-15@1c8fd45", "seconds": 152.2},
  {"id": "encoder/GSNet/LitePT@litept", "kind": "encoder", "method": "GSNet", "option": "backbone=litept", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.57x"], "terms": {"loss/objectness": [0.1278, 0.1562, 0.818], "loss/graspness": [0.04356, 0.07598, 0.573], "loss/view": [0.823, 0.8476, 0.971], "loss/score": [0.03206, 0.0313, 1.024], "loss/width": [0.08594, 0.101, 0.85]}, "rise": {"loss/objectness": -0.098, "loss/graspness": -0.157, "loss/view": -0.018, "loss/score": 0.061, "loss/width": -0.056}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07329, 0.07797, 0.06872, 0.06724], "checked": [9, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__LitePT@litept.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=litept -o encoder__GSNet__LitePT@litept.yaml", "config_hash": "fe87ec72aaf4a29a", "run": "2026-10-15@1c8fd45", "seconds": 150.5},
  {"id": "encoder/EconomicGrasp/LitePT@litept-structured3d", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=litept-structured3d", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.259x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.71x, loss/depth 0.67x, loss/score 0.72x"], "terms": {"loss/objectness": [0.1585, 0.1259, 1.259], "loss/graspness": [0.05771, 0.06338, 0.911], "loss/view": [0.8554, 0.8303, 1.03], "loss/angle": [1.099, 1.543, 0.712], "loss/depth": [0.5225, 0.7779, 0.672], "loss/score": [0.9444, 1.31, 0.721], "loss/width": [0.4736, 0.5737, 0.826]}, "rise": {"loss/objectness": -0.234, "loss/graspness": -0.198, "loss/view": -0.004, "loss/angle": -0.024, "loss/depth": -0.06, "loss/score": -0.023, "loss/width": -0.196}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.477, -2.274, -2.696, -2.777], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__LitePT@litept-structured3d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=litept-structured3d -o encoder__EconomicGrasp__LitePT@litept-structured3d.yaml", "config_hash": "df598b9c4971d0d9", "run": "2026-10-15@1c8fd45", "seconds": 169.9},
  {"id": "encoder/EconomicGrasp/LitePT@litept", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=litept", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.71x, loss/angle 0.76x, loss/depth 0.71x, loss/score 0.77x, loss/width 0.77x"], "terms": {"loss/objectness": [0.1336, 0.1259, 1.061], "loss/graspness": [0.04513, 0.06338, 0.712], "loss/view": [0.8404, 0.8303, 1.012], "loss/angle": [1.171, 1.543, 0.758], "loss/depth": [0.5554, 0.7779, 0.714], "loss/score": [1.012, 1.31, 0.773], "loss/width": [0.44, 0.5737, 0.767]}, "rise": {"loss/objectness": -0.158, "loss/graspness": -0.213, "loss/view": -0.01, "loss/angle": -0.037, "loss/depth": -0.085, "loss/score": -0.038, "loss/width": -0.179}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.4496, 0.1576, 0.03845, -0.254], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__LitePT@litept.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=litept -o encoder__EconomicGrasp__LitePT@litept.yaml", "config_hash": "01eb333d37006870", "run": "2026-10-15@1c8fd45", "seconds": 158.7},
  {"id": "encoder/FineGrasp/LitePT@litept-structured3d", "kind": "encoder", "method": "FineGrasp", "option": "backbone=litept-structured3d", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.347x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1211, 0.08986, 1.347], "loss/graspness": [0.05476, 0.04722, 1.16], "loss/view": [0.7496, 0.7334, 1.022], "loss/angle": [0.7698, 0.9369, 0.822], "loss/depth": [0.3579, 0.4363, 0.82], "loss/score": [0.6732, 0.8125, 0.829], "loss/width": [0.2918, 0.3151, 0.926]}, "rise": {"loss/objectness": -0.133, "loss/graspness": -0.205, "loss/view": -0.052, "loss/angle": -0.11, "loss/depth": -0.072, "loss/score": -0.056, "loss/width": -0.152}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.193, -3.048, -4.347, -4.192], "checked": [11, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__LitePT@litept-structured3d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=litept-structured3d -o encoder__FineGrasp__LitePT@litept-structured3d.yaml", "config_hash": "8d71685c372d1776", "run": "2026-10-16@1c8fd45", "seconds": 488.0},
  {"id": "encoder/FineGrasp/LitePT@litept", "kind": "encoder", "method": "FineGrasp", "option": "backbone=litept", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1084, 0.08986, 1.206], "loss/graspness": [0.05032, 0.04722, 1.066], "loss/view": [0.7496, 0.7334, 1.022], "loss/angle": [0.7625, 0.9369, 0.814], "loss/depth": [0.3613, 0.4363, 0.828], "loss/score": [0.6724, 0.8125, 0.828], "loss/width": [0.2831, 0.3151, 0.898]}, "rise": {"loss/objectness": -0.119, "loss/graspness": -0.132, "loss/view": -0.057, "loss/angle": -0.09, "loss/depth": -0.035, "loss/score": -0.035, "loss/width": -0.152}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.123, -1.812, -3.448, -1.981], "checked": [11, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__LitePT@litept.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=litept -o encoder__FineGrasp__LitePT@litept.yaml", "config_hash": "32f6f0072cf61fae", "run": "2026-10-16@1c8fd45", "seconds": 488.1},
  {"id": "encoder/GraspNet-baseline/LitePT@litept-structured3d", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=litept-structured3d", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.43x"], "terms": {"loss/objectness": [0.1599, 0.3739, 0.428], "loss/view": [0.02647, 0.02976, 0.89], "loss/score": [0.02097, 0.02246, 0.934], "loss/angle": [0.334, 0.3337, 1.001], "loss/width": [0.01167, 0.01289, 0.905], "loss/tolerance": [0.01684, 0.02008, 0.838]}, "rise": {"loss/objectness": -0.1, "loss/view": -0.052, "loss/score": -0.058, "loss/angle": -0.042, "loss/width": -0.158, "loss/tolerance": -0.325}, "grasps_per_frame": [521, 467, 518, 519], "no_gradient": [], "unchanged": [], "score_median": [0.09054, 0.1101, 0.1192, 0.01709], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__LitePT@litept-structured3d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=litept-structured3d -o encoder__GraspNet-baseline__LitePT@litept-structured3d.yaml", "config_hash": "d03f588169a9873e", "run": "2026-10-15@1c8fd45", "seconds": 109.6},
  {"id": "encoder/GraspNet-baseline/LitePT@litept", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=litept", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.78x"], "terms": {"loss/objectness": [0.2914, 0.3739, 0.779], "loss/view": [0.02997, 0.02976, 1.007], "loss/score": [0.02011, 0.02246, 0.895], "loss/angle": [0.3437, 0.3337, 1.03], "loss/width": [0.01172, 0.01289, 0.909], "loss/tolerance": [0.01659, 0.02008, 0.826]}, "rise": {"loss/objectness": -0.181, "loss/view": -0.046, "loss/score": -0.068, "loss/angle": -0.043, "loss/width": -0.27, "loss/tolerance": -0.377}, "grasps_per_frame": [494, 452, 525, 505], "no_gradient": [], "unchanged": [], "score_median": [0.04971, 0.06976, 0.08273, 0.03813], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__LitePT@litept.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=litept -o encoder__GraspNet-baseline__LitePT@litept.yaml", "config_hash": "ec9073ad37f997bb", "run": "2026-10-15@1c8fd45", "seconds": 108.2},
  {"id": "encoder/Scale-Balanced-Grasp/LitePT@litept-structured3d", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=litept-structured3d", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.53x"], "terms": {"loss/objectness": [0.1055, 0.1975, 0.534], "loss/view": [0.07646, 0.08244, 0.927], "loss/score": [0.01325, 0.01418, 0.934], "loss/angle": [0.2951, 0.3132, 0.942], "loss/width": [0.009571, 0.01146, 0.836], "loss/tolerance": [0.00579, 0.007067, 0.819]}, "rise": {"loss/objectness": -0.099, "loss/view": -0.027, "loss/score": -0.064, "loss/angle": -0.093, "loss/width": 0.084, "loss/tolerance": -0.326}, "grasps_per_frame": [145, 162, 155, 139], "no_gradient": [], "unchanged": [], "score_median": [0.05626, 0.06319, 0.0478, 0.07459], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__LitePT@litept-structured3d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=litept-structured3d -o encoder__Scale-Balanced-Grasp__LitePT@litept-structured3d.yaml", "config_hash": "f6cde242cceca44d", "run": "2026-10-15@1c8fd45", "seconds": 123.5},
  {"id": "encoder/Scale-Balanced-Grasp/LitePT@litept", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=litept", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.59x"], "terms": {"loss/objectness": [0.1167, 0.1975, 0.591], "loss/view": [0.07533, 0.08244, 0.914], "loss/score": [0.01257, 0.01418, 0.886], "loss/angle": [0.2902, 0.3132, 0.927], "loss/width": [0.009526, 0.01146, 0.832], "loss/tolerance": [0.006124, 0.007067, 0.867]}, "rise": {"loss/objectness": -0.099, "loss/view": -0.034, "loss/score": -0.054, "loss/angle": -0.1, "loss/width": 0.103, "loss/tolerance": -0.226}, "grasps_per_frame": [126, 140, 154, 119], "no_gradient": [], "unchanged": [], "score_median": [0.04286, 0.03278, 0.05554, 0.05223], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__LitePT@litept.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=litept -o encoder__Scale-Balanced-Grasp__LitePT@litept.yaml", "config_hash": "59ee97fb6461009a", "run": "2026-10-15@1c8fd45", "seconds": 122.6},
  {"id": "encoder/GSNet/MinkUNet@minkunet18a-openscene", "kind": "encoder", "method": "GSNet", "option": "backbone=minkunet18a-openscene", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.79x"], "terms": {"loss/objectness": [0.1485, 0.1562, 0.951], "loss/graspness": [0.06025, 0.07598, 0.793], "loss/view": [0.8292, 0.8476, 0.978], "loss/score": [0.0318, 0.0313, 1.016], "loss/width": [0.0941, 0.101, 0.931]}, "rise": {"loss/objectness": -0.245, "loss/graspness": -0.328, "loss/view": 0.049, "loss/score": 0.181, "loss/width": -0.137}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05976, 0.05744, 0.05922, 0.05711], "checked": [33, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__MinkUNet@minkunet18a-openscene.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=minkunet18a-openscene -o encoder__GSNet__MinkUNet@minkunet18a-openscene.yaml", "config_hash": "61b4c3bd1fcc3f19", "run": "2026-10-15@1c8fd45", "seconds": 118.4},
  {"id": "encoder/GSNet/MinkUNet@minkunet18a", "kind": "encoder", "method": "GSNet", "option": "backbone=minkunet18a", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1367, 0.1562, 0.875], "loss/graspness": [0.06189, 0.07598, 0.815], "loss/view": [0.8276, 0.8476, 0.976], "loss/score": [0.03289, 0.0313, 1.051], "loss/width": [0.09916, 0.101, 0.981]}, "rise": {"loss/objectness": -0.275, "loss/graspness": -0.37, "loss/view": 0.143, "loss/score": 0.193, "loss/width": -0.086}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07491, 0.07464, 0.07266, 0.07346], "checked": [33, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__MinkUNet@minkunet18a.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=minkunet18a -o encoder__GSNet__MinkUNet@minkunet18a.yaml", "config_hash": "10f766c2e3a2084d", "run": "2026-10-15@1c8fd45", "seconds": 118.8},
  {"id": "encoder/GSNet/MinkUNet@minkunet34c-pointcontrast", "kind": "encoder", "method": "GSNet", "option": "backbone=minkunet34c-pointcontrast", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.73x, loss/graspness 0.47x"], "terms": {"loss/objectness": [0.1139, 0.1562, 0.729], "loss/graspness": [0.03534, 0.07598, 0.465], "loss/view": [0.8338, 0.8476, 0.984], "loss/score": [0.03663, 0.0313, 1.17], "loss/width": [0.08557, 0.101, 0.847]}, "rise": {"loss/objectness": -0.159, "loss/graspness": -0.306, "loss/view": -0.035, "loss/score": 0.073, "loss/width": -0.066}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0717, 0.07675, 0.07486, 0.08014], "checked": [33, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__MinkUNet@minkunet34c-pointcontrast.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=minkunet34c-pointcontrast -o encoder__GSNet__MinkUNet@minkunet34c-pointcontrast.yaml", "config_hash": "3bfe3a0af9be55ba", "run": "2026-10-15@1c8fd45", "seconds": 116.3},
  {"id": "encoder/GSNet/MinkUNet@minkunet34c", "kind": "encoder", "method": "GSNet", "option": "backbone=minkunet34c", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1458, 0.1562, 0.934], "loss/graspness": [0.07327, 0.07598, 0.964], "loss/view": [0.8136, 0.8476, 0.96], "loss/score": [0.03264, 0.0313, 1.043], "loss/width": [0.1017, 0.101, 1.006]}, "rise": {"loss/objectness": -0.461, "loss/graspness": -0.358, "loss/view": 0.186, "loss/score": 0.19, "loss/width": -0.093}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07455, 0.06849, 0.07883, 0.07203], "checked": [33, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__MinkUNet@minkunet34c.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=minkunet34c -o encoder__GSNet__MinkUNet@minkunet34c.yaml", "config_hash": "43ddf53e89e1b22c", "run": "2026-10-15@1c8fd45", "seconds": 122.1},
  {"id": "encoder/EconomicGrasp/MinkUNet@minkunet18a-openscene", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=minkunet18a-openscene", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.520x the reference (tolerance 1.25)", "loss/graspness 1.463x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.77x, loss/depth 0.77x, loss/score 0.79x"], "terms": {"loss/objectness": [0.1913, 0.1259, 1.52], "loss/graspness": [0.09272, 0.06338, 1.463], "loss/view": [0.8352, 0.8303, 1.006], "loss/angle": [1.19, 1.543, 0.771], "loss/depth": [0.5996, 0.7779, 0.771], "loss/score": [1.04, 1.31, 0.795], "loss/width": [0.5117, 0.5737, 0.892]}, "rise": {"loss/objectness": -0.273, "loss/graspness": -0.253, "loss/view": 0.016, "loss/angle": -0.048, "loss/depth": -0.108, "loss/score": -0.059, "loss/width": -0.189}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.3815, 0.2515, 0.02958, 0.4654], "checked": [36, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__MinkUNet@minkunet18a-openscene.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=minkunet18a-openscene -o encoder__EconomicGrasp__MinkUNet@minkunet18a-openscene.yaml", "config_hash": "665fac53c832b3b2", "run": "2026-10-15@1c8fd45", "seconds": 126.1},
  {"id": "encoder/EconomicGrasp/MinkUNet@minkunet18a", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=minkunet18a", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.275x the reference (tolerance 1.25)", "loss/graspness 2.326x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2864, 0.1259, 2.275], "loss/graspness": [0.1474, 0.06338, 2.326], "loss/view": [0.7657, 0.8303, 0.922], "loss/angle": [1.342, 1.543, 0.87], "loss/depth": [0.6845, 0.7779, 0.88], "loss/score": [1.148, 1.31, 0.877], "loss/width": [0.6958, 0.5737, 1.213]}, "rise": {"loss/objectness": -0.339, "loss/graspness": -0.119, "loss/view": 0.066, "loss/angle": 0.078, "loss/depth": 0.045, "loss/score": 0.083, "loss/width": -0.026}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.1111, -0.208, -0.104, -0.02747], "checked": [36, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__MinkUNet@minkunet18a.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=minkunet18a -o encoder__EconomicGrasp__MinkUNet@minkunet18a.yaml", "config_hash": "5171f71aaea5ecbd", "run": "2026-10-15@1c8fd45", "seconds": 127.3},
  {"id": "encoder/EconomicGrasp/MinkUNet@minkunet34c-pointcontrast", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=minkunet34c-pointcontrast", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.59x, loss/depth 0.77x, loss/score 0.80x, loss/width 0.70x"], "terms": {"loss/objectness": [0.1178, 0.1259, 0.936], "loss/graspness": [0.03753, 0.06338, 0.592], "loss/view": [0.8218, 0.8303, 0.99], "loss/angle": [1.248, 1.543, 0.808], "loss/depth": [0.6004, 0.7779, 0.772], "loss/score": [1.043, 1.31, 0.797], "loss/width": [0.4009, 0.5737, 0.699]}, "rise": {"loss/objectness": -0.05, "loss/graspness": -0.268, "loss/view": -0.016, "loss/angle": -0.113, "loss/depth": -0.134, "loss/score": -0.115, "loss/width": -0.247}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.543, -1.986, -2.108, -1.497], "checked": [36, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__MinkUNet@minkunet34c-pointcontrast.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=minkunet34c-pointcontrast -o encoder__EconomicGrasp__MinkUNet@minkunet34c-pointcontrast.yaml", "config_hash": "570d876cc65be335", "run": "2026-10-15@1c8fd45", "seconds": 128.5},
  {"id": "encoder/EconomicGrasp/MinkUNet@minkunet34c", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=minkunet34c", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.323x the reference (tolerance 1.25)", "loss/graspness 1.472x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1666, 0.1259, 1.323], "loss/graspness": [0.0933, 0.06338, 1.472], "loss/view": [0.7932, 0.8303, 0.955], "loss/angle": [1.537, 1.543, 0.996], "loss/depth": [0.7634, 0.7779, 0.981], "loss/score": [1.299, 1.31, 0.992], "loss/width": [0.6493, 0.5737, 1.132]}, "rise": {"loss/objectness": -0.526, "loss/graspness": -0.281, "loss/view": 0.028, "loss/angle": 0.085, "loss/depth": 0.06, "loss/score": 0.092, "loss/width": -0.07}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.468, -1.394, -1.398, -1.258], "checked": [36, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__MinkUNet@minkunet34c.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=minkunet34c -o encoder__EconomicGrasp__MinkUNet@minkunet34c.yaml", "config_hash": "a4654d6605602bbe", "run": "2026-10-15@1c8fd45", "seconds": 130.5},
  {"id": "encoder/FineGrasp/MinkUNet@minkunet18a-openscene", "kind": "encoder", "method": "FineGrasp", "option": "backbone=minkunet18a-openscene", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09569, 0.08986, 1.065], "loss/graspness": [0.03996, 0.04722, 0.846], "loss/view": [0.7085, 0.7334, 0.966], "loss/angle": [0.7898, 0.9369, 0.843], "loss/depth": [0.3776, 0.4363, 0.865], "loss/score": [0.7141, 0.8125, 0.879], "loss/width": [0.2917, 0.3151, 0.926]}, "rise": {"loss/objectness": -0.173, "loss/graspness": -0.302, "loss/view": -0.044, "loss/angle": -0.134, "loss/depth": -0.104, "loss/score": -0.098, "loss/width": -0.164}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.437, -4.258, -4.565, -3.831], "checked": [35, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__MinkUNet@minkunet18a-openscene.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=minkunet18a-openscene -o encoder__FineGrasp__MinkUNet@minkunet18a-openscene.yaml", "config_hash": "2472765cfaa641a8", "run": "2026-10-16@1c8fd45", "seconds": 503.7},
  {"id": "encoder/FineGrasp/MinkUNet@minkunet18a", "kind": "encoder", "method": "FineGrasp", "option": "backbone=minkunet18a", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.101, 0.08986, 1.124], "loss/graspness": [0.04758, 0.04722, 1.008], "loss/view": [0.7303, 0.7334, 0.996], "loss/angle": [0.9984, 0.9369, 1.066], "loss/depth": [0.4633, 0.4363, 1.062], "loss/score": [0.8543, 0.8125, 1.051], "loss/width": [0.3418, 0.3151, 1.085]}, "rise": {"loss/objectness": -0.102, "loss/graspness": -0.193, "loss/view": -0.03, "loss/angle": -0.154, "loss/depth": -0.156, "loss/score": -0.143, "loss/width": -0.209}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.773, -1.531, -2.664, -1.87], "checked": [35, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__MinkUNet@minkunet18a.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=minkunet18a -o encoder__FineGrasp__MinkUNet@minkunet18a.yaml", "config_hash": "eb6fe93d756f8692", "run": "2026-10-16@1c8fd45", "seconds": 494.8},
  {"id": "encoder/FineGrasp/MinkUNet@minkunet34c-pointcontrast", "kind": "encoder", "method": "FineGrasp", "option": "backbone=minkunet34c-pointcontrast", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.74x"], "terms": {"loss/objectness": [0.08593, 0.08986, 0.956], "loss/graspness": [0.03471, 0.04722, 0.735], "loss/view": [0.7213, 0.7334, 0.984], "loss/angle": [0.7721, 0.9369, 0.824], "loss/depth": [0.3702, 0.4363, 0.848], "loss/score": [0.6967, 0.8125, 0.857], "loss/width": [0.2563, 0.3151, 0.814]}, "rise": {"loss/objectness": -0.128, "loss/graspness": -0.249, "loss/view": -0.035, "loss/angle": -0.128, "loss/depth": -0.089, "loss/score": -0.089, "loss/width": -0.209}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.115, -2.613, -3.113, -3.118], "checked": [35, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__MinkUNet@minkunet34c-pointcontrast.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=minkunet34c-pointcontrast -o encoder__FineGrasp__MinkUNet@minkunet34c-pointcontrast.yaml", "config_hash": "f02acb747c4cc985", "run": "2026-10-16@1c8fd45", "seconds": 495.6},
  {"id": "encoder/FineGrasp/MinkUNet@minkunet34c", "kind": "encoder", "method": "FineGrasp", "option": "backbone=minkunet34c", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09728, 0.08986, 1.083], "loss/graspness": [0.04373, 0.04722, 0.926], "loss/view": [0.7265, 0.7334, 0.991], "loss/angle": [0.9841, 0.9369, 1.05], "loss/depth": [0.4549, 0.4363, 1.043], "loss/score": [0.8569, 0.8125, 1.055], "loss/width": [0.3225, 0.3151, 1.023]}, "rise": {"loss/objectness": -0.157, "loss/graspness": -0.329, "loss/view": -0.033, "loss/angle": -0.149, "loss/depth": -0.154, "loss/score": -0.13, "loss/width": -0.223}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.803, -2.39, -2.744, -1.968], "checked": [35, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__MinkUNet@minkunet34c.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=minkunet34c -o encoder__FineGrasp__MinkUNet@minkunet34c.yaml", "config_hash": "8e23518a4fe8ccf3", "run": "2026-10-16@1c8fd45", "seconds": 498.0},
  {"id": "encoder/GraspNet-baseline/MinkUNet@minkunet18a-openscene", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=minkunet18a-openscene", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.44x, loss/tolerance 0.72x"], "terms": {"loss/objectness": [0.1632, 0.3739, 0.437], "loss/view": [0.02671, 0.02976, 0.897], "loss/score": [0.0212, 0.02246, 0.944], "loss/angle": [0.3311, 0.3337, 0.992], "loss/width": [0.01304, 0.01289, 1.011], "loss/tolerance": [0.01452, 0.02008, 0.723]}, "rise": {"loss/objectness": -0.123, "loss/view": -0.04, "loss/score": -0.075, "loss/angle": -0.042, "loss/width": -0.125, "loss/tolerance": -0.347}, "grasps_per_frame": [534, 476, 525, 515], "no_gradient": [], "unchanged": [], "score_median": [0.2182, 0.1246, 0.2407, 0.09427], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__MinkUNet@minkunet18a-openscene.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=minkunet18a-openscene -o encoder__GraspNet-baseline__MinkUNet@minkunet18a-openscene.yaml", "config_hash": "2942fde537abb42e", "run": "2026-10-15@1c8fd45", "seconds": 92.0},
  {"id": "encoder/GraspNet-baseline/MinkUNet@minkunet18a", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=minkunet18a", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.64x"], "terms": {"loss/objectness": [0.2391, 0.3739, 0.64], "loss/view": [0.02961, 0.02976, 0.995], "loss/score": [0.02035, 0.02246, 0.906], "loss/angle": [0.327, 0.3337, 0.98], "loss/width": [0.01175, 0.01289, 0.912], "loss/tolerance": [0.01646, 0.02008, 0.82]}, "rise": {"loss/objectness": -0.015, "loss/view": -0.044, "loss/score": -0.031, "loss/angle": -0.038, "loss/width": -0.211, "loss/tolerance": -0.377}, "grasps_per_frame": [536, 497, 580, 540], "no_gradient": [], "unchanged": [], "score_median": [0.1669, 0.1381, 0.1078, 0.1324], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__MinkUNet@minkunet18a.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=minkunet18a -o encoder__GraspNet-baseline__MinkUNet@minkunet18a.yaml", "config_hash": "b44971856e405e0f", "run": "2026-10-15@1c8fd45", "seconds": 91.1},
  {"id": "encoder/GraspNet-baseline/MinkUNet@minkunet34c-pointcontrast", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=minkunet34c-pointcontrast", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.46x"], "terms": {"loss/objectness": [0.1703, 0.3739, 0.456], "loss/view": [0.0268, 0.02976, 0.9], "loss/score": [0.02022, 0.02246, 0.9], "loss/angle": [0.3239, 0.3337, 0.971], "loss/width": [0.01257, 0.01289, 0.975], "loss/tolerance": [0.01906, 0.02008, 0.949]}, "rise": {"loss/objectness": -0.185, "loss/view": -0.035, "loss/score": -0.06, "loss/angle": -0.051, "loss/width": -0.152, "loss/tolerance": -0.329}, "grasps_per_frame": [520, 463, 536, 522], "no_gradient": [], "unchanged": [], "score_median": [0.1022, 0.1094, 0.1044, 0.1158], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__MinkUNet@minkunet34c-pointcontrast.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=minkunet34c-pointcontrast -o encoder__GraspNet-baseline__MinkUNet@minkunet34c-pointcontrast.yaml", "config_hash": "434c04f79e00a379", "run": "2026-10-15@1c8fd45", "seconds": 92.8},
  {"id": "encoder/GraspNet-baseline/MinkUNet@minkunet34c", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=minkunet34c", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.51x, loss/tolerance 0.79x"], "terms": {"loss/objectness": [0.1923, 0.3739, 0.514], "loss/view": [0.0298, 0.02976, 1.001], "loss/score": [0.0201, 0.02246, 0.895], "loss/angle": [0.3329, 0.3337, 0.998], "loss/width": [0.01145, 0.01289, 0.888], "loss/tolerance": [0.01587, 0.02008, 0.79]}, "rise": {"loss/objectness": -0.142, "loss/view": -0.031, "loss/score": -0.053, "loss/angle": -0.039, "loss/width": -0.21, "loss/tolerance": -0.332}, "grasps_per_frame": [528, 488, 555, 513], "no_gradient": [], "unchanged": [], "score_median": [0.1182, 0.1247, 0.1193, 0.0802], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__MinkUNet@minkunet34c.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=minkunet34c -o encoder__GraspNet-baseline__MinkUNet@minkunet34c.yaml", "config_hash": "8c1ae474ca464ce8", "run": "2026-10-15@1c8fd45", "seconds": 94.6},
  {"id": "encoder/Scale-Balanced-Grasp/MinkUNet@minkunet18a-openscene", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=minkunet18a-openscene", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.53x, loss/width 0.77x, loss/tolerance 0.61x"], "terms": {"loss/objectness": [0.1053, 0.1975, 0.533], "loss/view": [0.07874, 0.08244, 0.955], "loss/score": [0.01283, 0.01418, 0.905], "loss/angle": [0.2918, 0.3132, 0.932], "loss/width": [0.008772, 0.01146, 0.766], "loss/tolerance": [0.004333, 0.007067, 0.613]}, "rise": {"loss/objectness": -0.097, "loss/view": -0.035, "loss/score": -0.052, "loss/angle": -0.086, "loss/width": -0.236, "loss/tolerance": -0.208}, "grasps_per_frame": [128, 140, 128, 106], "no_gradient": [], "unchanged": [], "score_median": [0.07601, 0.05103, 0.05265, 0.08066], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__MinkUNet@minkunet18a-openscene.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=minkunet18a-openscene -o encoder__Scale-Balanced-Grasp__MinkUNet@minkunet18a-openscene.yaml", "config_hash": "2b52df4a64918ac7", "run": "2026-10-15@1c8fd45", "seconds": 120.6},
  {"id": "encoder/Scale-Balanced-Grasp/MinkUNet@minkunet18a", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=minkunet18a", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.65x"], "terms": {"loss/objectness": [0.1283, 0.1975, 0.65], "loss/view": [0.08191, 0.08244, 0.994], "loss/score": [0.01181, 0.01418, 0.833], "loss/angle": [0.3059, 0.3132, 0.977], "loss/width": [0.01067, 0.01146, 0.931], "loss/tolerance": [0.006086, 0.007067, 0.861]}, "rise": {"loss/objectness": -0.164, "loss/view": -0.014, "loss/score": -0.075, "loss/angle": -0.061, "loss/width": -0.159, "loss/tolerance": -0.238}, "grasps_per_frame": [146, 154, 146, 128], "no_gradient": [], "unchanged": [], "score_median": [0.03595, 0.05549, 0.05367, 0.04649], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__MinkUNet@minkunet18a.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=minkunet18a -o encoder__Scale-Balanced-Grasp__MinkUNet@minkunet18a.yaml", "config_hash": "c8073519f44a8698", "run": "2026-10-15@1c8fd45", "seconds": 121.0},
  {"id": "encoder/Scale-Balanced-Grasp/MinkUNet@minkunet34c-pointcontrast", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=minkunet34c-pointcontrast", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.52x, loss/width 0.72x, loss/tolerance 0.57x"], "terms": {"loss/objectness": [0.1026, 0.1975, 0.52], "loss/view": [0.07682, 0.08244, 0.932], "loss/score": [0.01161, 0.01418, 0.819], "loss/angle": [0.2807, 0.3132, 0.896], "loss/width": [0.008295, 0.01146, 0.724], "loss/tolerance": [0.004026, 0.007067, 0.57]}, "rise": {"loss/objectness": -0.097, "loss/view": -0.031, "loss/score": -0.08, "loss/angle": -0.099, "loss/width": -0.041, "loss/tolerance": -0.147}, "grasps_per_frame": [129, 143, 136, 111], "no_gradient": [], "unchanged": [], "score_median": [0.04223, 0.02889, 0.0411, 0.03444], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__MinkUNet@minkunet34c-pointcontrast.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=minkunet34c-pointcontrast -o encoder__Scale-Balanced-Grasp__MinkUNet@minkunet34c-pointcontrast.yaml", "config_hash": "e3275d76cb62f705", "run": "2026-10-15@1c8fd45", "seconds": 122.0},
  {"id": "encoder/Scale-Balanced-Grasp/MinkUNet@minkunet34c", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=minkunet34c", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.77x"], "terms": {"loss/objectness": [0.1516, 0.1975, 0.768], "loss/view": [0.08296, 0.08244, 1.006], "loss/score": [0.01224, 0.01418, 0.863], "loss/angle": [0.3127, 0.3132, 0.998], "loss/width": [0.009972, 0.01146, 0.871], "loss/tolerance": [0.007293, 0.007067, 1.032]}, "rise": {"loss/objectness": -0.207, "loss/view": 0.004, "loss/score": -0.069, "loss/angle": -0.075, "loss/width": 0.054, "loss/tolerance": -0.312}, "grasps_per_frame": [154, 167, 172, 141], "no_gradient": [], "unchanged": [], "score_median": [0.0465, 0.0217, 0.03528, 0.05764], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__MinkUNet@minkunet34c.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=minkunet34c -o encoder__Scale-Balanced-Grasp__MinkUNet@minkunet34c.yaml", "config_hash": "2f22d5de5012aca6", "run": "2026-10-15@1c8fd45", "seconds": 124.1},
  {"id": "encoder/GSNet/OACNNs", "kind": "encoder", "method": "GSNet", "option": "backbone=oacnns", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 2.037x the reference (tolerance 1.25)", "loss/graspness 1.721x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.69x", "unstable: 12 of 250 iterations had no real seed (iteration 4, 5, 6, 20, 21, 22 ...)."], "terms": {"loss/objectness": [0.3182, 0.1562, 2.037], "loss/graspness": [0.1308, 0.07598, 1.721], "loss/view": [0.7609, 0.8476, 0.898], "loss/score": [0.02163, 0.0313, 0.691], "loss/width": [0.1105, 0.101, 1.093]}, "rise": {"loss/objectness": -0.238, "loss/graspness": -0.243, "loss/view": 0.285, "loss/score": 0.035, "loss/width": -0.266}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06694, 0.06166, 0.06316, 0.0567], "checked": [10, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__OACNNs.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=oacnns -o encoder__GSNet__OACNNs.yaml", "config_hash": "b3748b50769bcac0", "run": "2026-10-15@1c8fd45", "seconds": 171.1},
  {"id": "encoder/EconomicGrasp/OACNNs", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=oacnns", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 4.012x the reference (tolerance 1.25)", "loss/graspness 3.171x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.75x, loss/depth 0.80x, loss/score 0.75x", "unstable: 1 of 250 iterations had no real seed (iteration 3)."], "terms": {"loss/objectness": [0.505, 0.1259, 4.012], "loss/graspness": [0.201, 0.06338, 3.171], "loss/view": [0.7148, 0.8303, 0.861], "loss/angle": [1.16, 1.543, 0.752], "loss/depth": [0.622, 0.7779, 0.8], "loss/score": [0.9828, 1.31, 0.75], "loss/width": [0.7076, 0.5737, 1.233]}, "rise": {"loss/objectness": -0.114, "loss/graspness": -0.072, "loss/view": 0.058, "loss/angle": 0.063, "loss/depth": 0.07, "loss/score": 0.058, "loss/width": -0.021}, "grasps_per_frame": [2, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [-2.439, null, null, null], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__OACNNs.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=oacnns -o encoder__EconomicGrasp__OACNNs.yaml", "config_hash": "9ab9f4f4f3c526af", "run": "2026-10-15@1c8fd45", "seconds": 186.3},
  {"id": "encoder/FineGrasp/OACNNs", "kind": "encoder", "method": "FineGrasp", "option": "backbone=oacnns", "level1": "runs-unstable", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1093, 0.08986, 1.216], "loss/graspness": [0.05852, 0.04722, 1.239], "loss/view": [0.7656, 0.7334, 1.044], "loss/angle": [0.9587, 0.9369, 1.023], "loss/depth": [0.4478, 0.4363, 1.026], "loss/score": [0.8421, 0.8125, 1.036], "loss/width": [0.3328, 0.3151, 1.056]}, "rise": {"loss/objectness": -0.207, "loss/graspness": -0.484, "loss/view": -0.014, "loss/angle": -0.15, "loss/depth": -0.134, "loss/score": -0.121, "loss/width": -0.293}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-5.301, -5.025, -5.047, -5.123], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__OACNNs.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=oacnns -o encoder__FineGrasp__OACNNs.yaml", "config_hash": "3912ab710953d35c", "run": "2026-10-16@1c8fd45", "seconds": 534.8},
  {"id": "encoder/GraspNet-baseline/OACNNs", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=oacnns", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.53x"], "terms": {"loss/objectness": [0.1973, 0.3739, 0.528], "loss/view": [0.03241, 0.02976, 1.089], "loss/score": [0.0201, 0.02246, 0.895], "loss/angle": [0.3308, 0.3337, 0.991], "loss/width": [0.0135, 0.01289, 1.048], "loss/tolerance": [0.01698, 0.02008, 0.846]}, "rise": {"loss/objectness": -0.142, "loss/view": -0.006, "loss/score": -0.069, "loss/angle": -0.033, "loss/width": -0.234, "loss/tolerance": -0.323}, "grasps_per_frame": [501, 441, 512, 518], "no_gradient": [], "unchanged": [], "score_median": [0.05376, -0.001636, 0.09403, 0.02149], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__OACNNs.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=oacnns -o encoder__GraspNet-baseline__OACNNs.yaml", "config_hash": "84603225fab0bc61", "run": "2026-10-15@1c8fd45", "seconds": 143.4},
  {"id": "encoder/Scale-Balanced-Grasp/OACNNs", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=oacnns", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.68x, loss/tolerance 0.68x"], "terms": {"loss/objectness": [0.1338, 0.1975, 0.678], "loss/view": [0.08524, 0.08244, 1.034], "loss/score": [0.01255, 0.01418, 0.885], "loss/angle": [0.2956, 0.3132, 0.944], "loss/width": [0.01035, 0.01146, 0.904], "loss/tolerance": [0.004789, 0.007067, 0.678]}, "rise": {"loss/objectness": -0.154, "loss/view": -0.013, "loss/score": -0.065, "loss/angle": -0.098, "loss/width": 0.078, "loss/tolerance": -0.279}, "grasps_per_frame": [115, 162, 157, 82], "no_gradient": [], "unchanged": [], "score_median": [0.05118, 0.03958, 0.0682, 0.06051], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__OACNNs.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=oacnns -o encoder__Scale-Balanced-Grasp__OACNNs.yaml", "config_hash": "055d5aef09033f2d", "run": "2026-10-15@1c8fd45", "seconds": 181.4},
  {"id": "encoder/GSNet/OctFormer", "kind": "encoder", "method": "GSNet", "option": "backbone=octformer", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1592, 0.1562, 1.02], "loss/graspness": [0.07215, 0.07598, 0.95], "loss/view": [0.8716, 0.8476, 1.028], "loss/score": [0.0301, 0.0313, 0.962], "loss/width": [0.1107, 0.101, 1.095]}, "rise": {"loss/objectness": -0.206, "loss/graspness": -0.309, "loss/view": 0.113, "loss/score": 0.102, "loss/width": -0.042}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05978, 0.06316, 0.07096, 0.06319], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__OctFormer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=octformer -o encoder__GSNet__OctFormer.yaml", "config_hash": "105a11a5068bb139", "run": "2026-10-15@1c8fd45", "seconds": 134.0},
  {"id": "encoder/EconomicGrasp/OctFormer", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=octformer", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1464, 0.1259, 1.163], "loss/graspness": [0.05433, 0.06338, 0.857], "loss/view": [0.9047, 0.8303, 1.09], "loss/angle": [1.592, 1.543, 1.031], "loss/depth": [0.8268, 0.7779, 1.063], "loss/score": [1.377, 1.31, 1.051], "loss/width": [0.6546, 0.5737, 1.141]}, "rise": {"loss/objectness": -0.175, "loss/graspness": -0.341, "loss/view": 0.051, "loss/angle": -0.03, "loss/depth": -0.114, "loss/score": -0.013, "loss/width": -0.086}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1884, 0.24, 0.07881, 0.2882], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__OctFormer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=octformer -o encoder__EconomicGrasp__OctFormer.yaml", "config_hash": "569f9f58f51b637e", "run": "2026-10-15@1c8fd45", "seconds": 141.6},
  {"id": "encoder/FineGrasp/OctFormer", "kind": "encoder", "method": "FineGrasp", "option": "backbone=octformer", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.417x the reference (tolerance 1.25)", "loss/graspness 1.302x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1273, 0.08986, 1.417], "loss/graspness": [0.06147, 0.04722, 1.302], "loss/view": [0.8157, 0.7334, 1.112], "loss/angle": [1.119, 0.9369, 1.194], "loss/depth": [0.5052, 0.4363, 1.158], "loss/score": [0.9616, 0.8125, 1.183], "loss/width": [0.3826, 0.3151, 1.214]}, "rise": {"loss/objectness": -0.238, "loss/graspness": -0.357, "loss/view": 0.011, "loss/angle": -0.123, "loss/depth": -0.179, "loss/score": -0.111, "loss/width": -0.257}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.001, -3.532, -4.062, -3.375], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__OctFormer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=octformer -o encoder__FineGrasp__OctFormer.yaml", "config_hash": "2bf718aa40cc9e9b", "run": "2026-10-16@1c8fd45", "seconds": 507.6},
  {"id": "encoder/GraspNet-baseline/OctFormer", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=octformer", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.65x"], "terms": {"loss/objectness": [0.2416, 0.3739, 0.646], "loss/view": [0.03238, 0.02976, 1.088], "loss/score": [0.02017, 0.02246, 0.898], "loss/angle": [0.3434, 0.3337, 1.029], "loss/width": [0.01469, 0.01289, 1.139], "loss/tolerance": [0.01692, 0.02008, 0.843]}, "rise": {"loss/objectness": -0.099, "loss/view": -0.003, "loss/score": -0.078, "loss/angle": -0.033, "loss/width": -0.144, "loss/tolerance": -0.291}, "grasps_per_frame": [516, 489, 548, 536], "no_gradient": [], "unchanged": [], "score_median": [0.02412, 0.01042, 0.05817, 0.03924], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__OctFormer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=octformer -o encoder__GraspNet-baseline__OctFormer.yaml", "config_hash": "8a96d7884d1abeba", "run": "2026-10-15@1c8fd45", "seconds": 106.9},
  {"id": "encoder/Scale-Balanced-Grasp/OctFormer", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=octformer", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.78x, loss/width 0.79x"], "terms": {"loss/objectness": [0.1545, 0.1975, 0.783], "loss/view": [0.08867, 0.08244, 1.076], "loss/score": [0.01202, 0.01418, 0.848], "loss/angle": [0.3187, 0.3132, 1.017], "loss/width": [0.009043, 0.01146, 0.789], "loss/tolerance": [0.008047, 0.007067, 1.139]}, "rise": {"loss/objectness": -0.151, "loss/view": -0.005, "loss/score": -0.051, "loss/angle": -0.055, "loss/width": -0.3, "loss/tolerance": -0.237}, "grasps_per_frame": [123, 149, 149, 117], "no_gradient": [], "unchanged": [], "score_median": [0.05914, 0.06013, 0.0506, 0.08985], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__OctFormer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=octformer -o encoder__Scale-Balanced-Grasp__OctFormer.yaml", "config_hash": "19694e3e8b7850a0", "run": "2026-10-15@1c8fd45", "seconds": 136.0},
  {"id": "encoder/GSNet/PTv3@ptv3-encoder", "kind": "encoder", "method": "GSNet", "option": "backbone=ptv3-encoder", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 1.815x the reference (tolerance 1.25)", "loss/graspness 2.437x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.75x", "unstable: 1 of 250 iterations had no real seed (iteration 3)."], "terms": {"loss/objectness": [0.2835, 0.1562, 1.815], "loss/graspness": [0.1852, 0.07598, 2.437], "loss/view": [0.6862, 0.8476, 0.81], "loss/score": [0.0234, 0.0313, 0.748], "loss/width": [0.1115, 0.101, 1.104]}, "rise": {"loss/objectness": -0.173, "loss/graspness": -0.22, "loss/view": 0.019, "loss/score": -0.001, "loss/width": -0.017}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05568, 0.0598, 0.05598, 0.05699], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PTv3@ptv3-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=ptv3-encoder -o encoder__GSNet__PTv3@ptv3-encoder.yaml", "config_hash": "64f03c13700180e6", "run": "2026-10-15@1c8fd45", "seconds": 128.8},
  {"id": "encoder/GSNet/PTv3@ptv3-ppt", "kind": "encoder", "method": "GSNet", "option": "backbone=ptv3-ppt", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.72x, loss/graspness 0.42x"], "terms": {"loss/objectness": [0.1127, 0.1562, 0.721], "loss/graspness": [0.03181, 0.07598, 0.419], "loss/view": [0.876, 0.8476, 1.034], "loss/score": [0.03361, 0.0313, 1.074], "loss/width": [0.08267, 0.101, 0.818]}, "rise": {"loss/objectness": -0.092, "loss/graspness": -0.262, "loss/view": -0.027, "loss/score": 0.049, "loss/width": -0.064}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07047, 0.07095, 0.06715, 0.0715], "checked": [9, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PTv3@ptv3-ppt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=ptv3-ppt -o encoder__GSNet__PTv3@ptv3-ppt.yaml", "config_hash": "85cbd4d59a803ded", "run": "2026-10-15@1c8fd45", "seconds": 448.2},
  {"id": "encoder/GSNet/PTv3@ptv3-scannet200", "kind": "encoder", "method": "GSNet", "option": "backbone=ptv3-scannet200", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1581, 0.1562, 1.013], "loss/graspness": [0.06135, 0.07598, 0.808], "loss/view": [0.8857, 0.8476, 1.045], "loss/score": [0.02872, 0.0313, 0.918], "loss/width": [0.1011, 0.101, 1.001]}, "rise": {"loss/objectness": -0.127, "loss/graspness": -0.288, "loss/view": 0.125, "loss/score": 0.041, "loss/width": -0.064}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07681, 0.08731, 0.07702, 0.09195], "checked": [9, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PTv3@ptv3-scannet200.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=ptv3-scannet200 -o encoder__GSNet__PTv3@ptv3-scannet200.yaml", "config_hash": "bb4ecb18d174764f", "run": "2026-10-15@1c8fd45", "seconds": 141.2},
  {"id": "encoder/GSNet/PTv3@ptv3", "kind": "encoder", "method": "GSNet", "option": "backbone=ptv3", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.72x, loss/graspness 0.44x"], "terms": {"loss/objectness": [0.1125, 0.1562, 0.72], "loss/graspness": [0.03329, 0.07598, 0.438], "loss/view": [0.9116, 0.8476, 1.076], "loss/score": [0.03184, 0.0313, 1.017], "loss/width": [0.08692, 0.101, 0.86]}, "rise": {"loss/objectness": -0.204, "loss/graspness": -0.296, "loss/view": 0.014, "loss/score": 0.036, "loss/width": -0.072}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06613, 0.06674, 0.06355, 0.0625], "checked": [9, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PTv3@ptv3.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=ptv3 -o encoder__GSNet__PTv3@ptv3.yaml", "config_hash": "a032384bbaf8d9af", "run": "2026-10-15@1c8fd45", "seconds": 140.3},
  {"id": "encoder/EconomicGrasp/PTv3@ptv3-encoder", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=ptv3-encoder", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 1.669x the reference (tolerance 1.25)", "loss/graspness 2.966x the reference (tolerance 1.25)"], "notes": ["unstable: 2 of 250 iterations had no real seed (iteration 3, 5)."], "terms": {"loss/objectness": [0.2101, 0.1259, 1.669], "loss/graspness": [0.188, 0.06338, 2.966], "loss/view": [0.7206, 0.8303, 0.868], "loss/angle": [1.522, 1.543, 0.986], "loss/depth": [0.8227, 0.7779, 1.058], "loss/score": [1.33, 1.31, 1.016], "loss/width": [0.6749, 0.5737, 1.176]}, "rise": {"loss/objectness": -0.263, "loss/graspness": -0.094, "loss/view": -0.033, "loss/angle": 0.023, "loss/depth": 0.027, "loss/score": 0.041, "loss/width": -0.052}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.3214, -0.3756, -0.3088, -0.2642], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PTv3@ptv3-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-encoder -o encoder__EconomicGrasp__PTv3@ptv3-encoder.yaml", "config_hash": "42f0ee25f5d0ba37", "run": "2026-10-15@1c8fd45", "seconds": 137.1},
  {"id": "encoder/EconomicGrasp/PTv3@ptv3-ppt", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=ptv3-ppt", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.72x, loss/depth 0.68x, loss/score 0.71x, loss/width 0.72x"], "terms": {"loss/objectness": [0.1356, 0.1259, 1.077], "loss/graspness": [0.05636, 0.06338, 0.889], "loss/view": [0.909, 0.8303, 1.095], "loss/angle": [1.107, 1.543, 0.717], "loss/depth": [0.5282, 0.7779, 0.679], "loss/score": [0.9308, 1.31, 0.711], "loss/width": [0.4153, 0.5737, 0.724]}, "rise": {"loss/objectness": -0.108, "loss/graspness": -0.314, "loss/view": 0.026, "loss/angle": -0.033, "loss/depth": -0.037, "loss/score": -0.03, "loss/width": -0.167}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.067, -0.8369, -0.4176, -0.8375], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PTv3@ptv3-ppt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-ppt -o encoder__EconomicGrasp__PTv3@ptv3-ppt.yaml", "config_hash": "6a422d656152036b", "run": "2026-10-15@1c8fd45", "seconds": 538.8},
  {"id": "encoder/EconomicGrasp/PTv3@ptv3-scannet200", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=ptv3-scannet200", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/depth 0.77x, loss/score 0.80x"], "terms": {"loss/objectness": [0.1519, 0.1259, 1.207], "loss/graspness": [0.06921, 0.06338, 1.092], "loss/view": [0.8872, 0.8303, 1.069], "loss/angle": [1.243, 1.543, 0.806], "loss/depth": [0.5992, 0.7779, 0.77], "loss/score": [1.043, 1.31, 0.797], "loss/width": [0.4896, 0.5737, 0.853]}, "rise": {"loss/objectness": -0.257, "loss/graspness": -0.334, "loss/view": 0.049, "loss/angle": 0.011, "loss/depth": -0.01, "loss/score": 0.005, "loss/width": -0.169}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.904, -1.596, -2.154, -1.339], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PTv3@ptv3-scannet200.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-scannet200 -o encoder__EconomicGrasp__PTv3@ptv3-scannet200.yaml", "config_hash": "3c7d9e398104034b", "run": "2026-10-15@1c8fd45", "seconds": 232.2},
  {"id": "encoder/EconomicGrasp/PTv3@ptv3", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=ptv3", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.73x"], "terms": {"loss/objectness": [0.1198, 0.1259, 0.951], "loss/graspness": [0.04628, 0.06338, 0.73], "loss/view": [0.8957, 0.8303, 1.079], "loss/angle": [1.32, 1.543, 0.856], "loss/depth": [0.6332, 0.7779, 0.814], "loss/score": [1.127, 1.31, 0.861], "loss/width": [0.4885, 0.5737, 0.851]}, "rise": {"loss/objectness": -0.075, "loss/graspness": -0.14, "loss/view": -0.054, "loss/angle": 0.136, "loss/depth": 0.096, "loss/score": 0.144, "loss/width": -0.194}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.6198, -0.5592, -0.6465, 0.2353], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PTv3@ptv3.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=ptv3 -o encoder__EconomicGrasp__PTv3@ptv3.yaml", "config_hash": "96d7bb210dff0577", "run": "2026-10-15@1c8fd45", "seconds": 226.3},
  {"id": "encoder/FineGrasp/PTv3@ptv3-encoder", "kind": "encoder", "method": "FineGrasp", "option": "backbone=ptv3-encoder", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 1.484x the reference (tolerance 1.25)", "loss/graspness 4.477x the reference (tolerance 1.25)", "loss/angle 1.408x the reference (tolerance 1.25)", "loss/depth 1.589x the reference (tolerance 1.25)", "loss/score 1.454x the reference (tolerance 1.25)", "loss/width 2.225x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1334, 0.08986, 1.484], "loss/graspness": [0.2114, 0.04722, 4.477], "loss/view": [0.6171, 0.7334, 0.841], "loss/angle": [1.319, 0.9369, 1.408], "loss/depth": [0.6933, 0.4363, 1.589], "loss/score": [1.181, 0.8125, 1.454], "loss/width": [0.701, 0.3151, 2.225]}, "rise": {"loss/objectness": -0.309, "loss/graspness": -0.645, "loss/view": -0.076, "loss/angle": -0.031, "loss/depth": -0.048, "loss/score": -0.021, "loss/width": -0.015}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.772, -2.532, -2.726, -2.142], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PTv3@ptv3-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-encoder -o encoder__FineGrasp__PTv3@ptv3-encoder.yaml", "config_hash": "3bfaaa7167b7b500", "run": "2026-10-16@1c8fd45", "seconds": 507.2},
  {"id": "encoder/FineGrasp/PTv3@ptv3-ppt", "kind": "encoder", "method": "FineGrasp", "option": "backbone=ptv3-ppt", "level1": "runs", "outcome": "diverging", "reasons": ["loss/objectness rises +42 % over the last half; the reference -17 %", "loss/objectness 1.570x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1411, 0.08986, 1.57], "loss/graspness": [0.04962, 0.04722, 1.051], "loss/view": [0.7691, 0.7334, 1.049], "loss/angle": [0.7649, 0.9369, 0.816], "loss/depth": [0.3663, 0.4363, 0.839], "loss/score": [0.6889, 0.8125, 0.848], "loss/width": [0.3064, 0.3151, 0.972]}, "rise": {"loss/objectness": 0.425, "loss/graspness": -0.003, "loss/view": -0.048, "loss/angle": -0.095, "loss/depth": -0.041, "loss/score": -0.048, "loss/width": -0.105}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.532, -3.665, -4.957, -5.371], "checked": [11, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PTv3@ptv3-ppt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-ppt -o encoder__FineGrasp__PTv3@ptv3-ppt.yaml", "config_hash": "b78eab3c4b22be50", "run": "2026-10-16@1c8fd45", "seconds": 1163.7},
  {"id": "encoder/FineGrasp/PTv3@ptv3-scannet200", "kind": "encoder", "method": "FineGrasp", "option": "backbone=ptv3-scannet200", "level1": "runs-unstable", "outcome": "diverging", "reasons": ["loss/graspness rises +56 % over the last half; the reference -28 %", "loss/objectness 1.278x the reference (tolerance 1.25)", "loss/graspness 1.275x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1149, 0.08986, 1.278], "loss/graspness": [0.06022, 0.04722, 1.275], "loss/view": [0.813, 0.7334, 1.109], "loss/angle": [0.8305, 0.9369, 0.886], "loss/depth": [0.3834, 0.4363, 0.879], "loss/score": [0.717, 0.8125, 0.882], "loss/width": [0.3244, 0.3151, 1.029]}, "rise": {"loss/objectness": 0.015, "loss/graspness": 0.558, "loss/view": -0.045, "loss/angle": 0.022, "loss/depth": 0.062, "loss/score": 0.041, "loss/width": 0.035}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.372, -3.636, -4.385, -4.039], "checked": [11, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PTv3@ptv3-scannet200.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-scannet200 -o encoder__FineGrasp__PTv3@ptv3-scannet200.yaml", "config_hash": "e860e01f9738bffe", "run": "2026-10-16@1c8fd45", "seconds": 523.4},
  {"id": "encoder/FineGrasp/PTv3@ptv3", "kind": "encoder", "method": "FineGrasp", "option": "backbone=ptv3", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 2.098x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1066, 0.08986, 1.187], "loss/graspness": [0.09907, 0.04722, 2.098], "loss/view": [0.7938, 0.7334, 1.082], "loss/angle": [1.005, 0.9369, 1.073], "loss/depth": [0.4624, 0.4363, 1.06], "loss/score": [0.8572, 0.8125, 1.055], "loss/width": [0.3833, 0.3151, 1.216]}, "rise": {"loss/objectness": -0.111, "loss/graspness": -0.167, "loss/view": -0.073, "loss/angle": 0.057, "loss/depth": 0.057, "loss/score": 0.08, "loss/width": -0.173}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.517, -2.649, -3.34, -2.167], "checked": [11, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PTv3@ptv3.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=ptv3 -o encoder__FineGrasp__PTv3@ptv3.yaml", "config_hash": "531467f10a297a96", "run": "2026-10-16@1c8fd45", "seconds": 523.9},
  {"id": "encoder/GraspNet-baseline/PTv3@ptv3-encoder", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=ptv3-encoder", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.46x, loss/tolerance 0.61x"], "terms": {"loss/objectness": [0.171, 0.3739, 0.457], "loss/view": [0.02586, 0.02976, 0.869], "loss/score": [0.02065, 0.02246, 0.919], "loss/angle": [0.329, 0.3337, 0.986], "loss/width": [0.01127, 0.01289, 0.874], "loss/tolerance": [0.01228, 0.02008, 0.612]}, "rise": {"loss/objectness": -0.236, "loss/view": -0.07, "loss/score": -0.082, "loss/angle": -0.038, "loss/width": -0.195, "loss/tolerance": -0.302}, "grasps_per_frame": [515, 452, 538, 516], "no_gradient": [], "unchanged": [], "score_median": [0.1159, 0.1119, 0.1112, 0.1123], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PTv3@ptv3-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=ptv3-encoder -o encoder__GraspNet-baseline__PTv3@ptv3-encoder.yaml", "config_hash": "352398f792576f9d", "run": "2026-10-15@1c8fd45", "seconds": 116.1},
  {"id": "encoder/GraspNet-baseline/PTv3@ptv3-ppt", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=ptv3-ppt", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.53x, loss/tolerance 0.74x"], "terms": {"loss/objectness": [0.1983, 0.3739, 0.53], "loss/view": [0.02745, 0.02976, 0.923], "loss/score": [0.02036, 0.02246, 0.907], "loss/angle": [0.3284, 0.3337, 0.984], "loss/width": [0.01284, 0.01289, 0.996], "loss/tolerance": [0.01489, 0.02008, 0.741]}, "rise": {"loss/objectness": 0.017, "loss/view": -0.035, "loss/score": -0.073, "loss/angle": -0.035, "loss/width": -0.084, "loss/tolerance": -0.327}, "grasps_per_frame": [500, 464, 525, 520], "no_gradient": [], "unchanged": [], "score_median": [0.01476, 0.04763, 0.01265, 0.03022], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PTv3@ptv3-ppt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=ptv3-ppt -o encoder__GraspNet-baseline__PTv3@ptv3-ppt.yaml", "config_hash": "308cff41c29d7d11", "run": "2026-10-15@1c8fd45", "seconds": 298.9},
  {"id": "encoder/GraspNet-baseline/PTv3@ptv3-scannet200", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=ptv3-scannet200", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.46x"], "terms": {"loss/objectness": [0.1703, 0.3739, 0.456], "loss/view": [0.02763, 0.02976, 0.929], "loss/score": [0.02047, 0.02246, 0.911], "loss/angle": [0.3384, 0.3337, 1.014], "loss/width": [0.01184, 0.01289, 0.918], "loss/tolerance": [0.01683, 0.02008, 0.838]}, "rise": {"loss/objectness": -0.161, "loss/view": -0.052, "loss/score": -0.064, "loss/angle": -0.045, "loss/width": -0.164, "loss/tolerance": -0.328}, "grasps_per_frame": [507, 458, 529, 511], "no_gradient": [], "unchanged": [], "score_median": [0.09361, 0.09476, 0.133, 0.09666], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PTv3@ptv3-scannet200.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=ptv3-scannet200 -o encoder__GraspNet-baseline__PTv3@ptv3-scannet200.yaml", "config_hash": "cbedfc6a3ee0c2b6", "run": "2026-10-15@1c8fd45", "seconds": 124.2},
  {"id": "encoder/GraspNet-baseline/PTv3@ptv3", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=ptv3", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.62x"], "terms": {"loss/objectness": [0.2302, 0.3739, 0.616], "loss/view": [0.0294, 0.02976, 0.988], "loss/score": [0.01988, 0.02246, 0.885], "loss/angle": [0.3461, 0.3337, 1.037], "loss/width": [0.01286, 0.01289, 0.998], "loss/tolerance": [0.01687, 0.02008, 0.84]}, "rise": {"loss/objectness": -0.035, "loss/view": -0.027, "loss/score": -0.072, "loss/angle": -0.031, "loss/width": -0.143, "loss/tolerance": -0.307}, "grasps_per_frame": [532, 447, 547, 538], "no_gradient": [], "unchanged": [], "score_median": [0.1137, 0.1158, 0.1452, 0.07292], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PTv3@ptv3.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=ptv3 -o encoder__GraspNet-baseline__PTv3@ptv3.yaml", "config_hash": "147c5d6fd28d313a", "run": "2026-10-15@1c8fd45", "seconds": 124.6},
  {"id": "encoder/Scale-Balanced-Grasp/PTv3@ptv3-encoder", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=ptv3-encoder", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.60x, loss/width 0.60x, loss/tolerance 0.53x"], "terms": {"loss/objectness": [0.1177, 0.1975, 0.596], "loss/view": [0.07309, 0.08244, 0.887], "loss/score": [0.01448, 0.01418, 1.021], "loss/angle": [0.3191, 0.3132, 1.019], "loss/width": [0.006821, 0.01146, 0.595], "loss/tolerance": [0.003758, 0.007067, 0.532]}, "rise": {"loss/objectness": -0.118, "loss/view": -0.04, "loss/score": -0.037, "loss/angle": -0.071, "loss/width": -0.097, "loss/tolerance": -0.278}, "grasps_per_frame": [125, 119, 129, 101], "no_gradient": [], "unchanged": [], "score_median": [0.04863, 0.02573, 0.04879, 0.02443], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PTv3@ptv3-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=ptv3-encoder -o encoder__Scale-Balanced-Grasp__PTv3@ptv3-encoder.yaml", "config_hash": "29bb35297b0cd716", "run": "2026-10-15@1c8fd45", "seconds": 185.8},
  {"id": "encoder/Scale-Balanced-Grasp/PTv3@ptv3-ppt", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=ptv3-ppt", "level1": "runs", "outcome": "diverging", "reasons": ["loss/width rises +43 % over the last half; the reference +14 %", "loss/width 1.336x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.49x"], "terms": {"loss/objectness": [0.09654, 0.1975, 0.489], "loss/view": [0.07364, 0.08244, 0.893], "loss/score": [0.01288, 0.01418, 0.908], "loss/angle": [0.301, 0.3132, 0.961], "loss/width": [0.0153, 0.01146, 1.336], "loss/tolerance": [0.0059, 0.007067, 0.835]}, "rise": {"loss/objectness": -0.082, "loss/view": -0.032, "loss/score": -0.026, "loss/angle": -0.089, "loss/width": 0.43, "loss/tolerance": -0.261}, "grasps_per_frame": [143, 152, 151, 117], "no_gradient": [], "unchanged": [], "score_median": [0.06615, 0.06187, 0.07089, 0.08755], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PTv3@ptv3-ppt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=ptv3-ppt -o encoder__Scale-Balanced-Grasp__PTv3@ptv3-ppt.yaml", "config_hash": "641dddc96d0fda59", "run": "2026-10-15@1c8fd45", "seconds": 345.9},
  {"id": "encoder/Scale-Balanced-Grasp/PTv3@ptv3-scannet200", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=ptv3-scannet200", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.55x, loss/width 0.79x, loss/tolerance 0.62x"], "terms": {"loss/objectness": [0.1082, 0.1975, 0.548], "loss/view": [0.07496, 0.08244, 0.909], "loss/score": [0.01349, 0.01418, 0.951], "loss/angle": [0.315, 0.3132, 1.006], "loss/width": [0.009059, 0.01146, 0.791], "loss/tolerance": [0.004401, 0.007067, 0.623]}, "rise": {"loss/objectness": -0.096, "loss/view": -0.046, "loss/score": -0.031, "loss/angle": -0.054, "loss/width": 0.034, "loss/tolerance": -0.331}, "grasps_per_frame": [127, 143, 139, 101], "no_gradient": [], "unchanged": [], "score_median": [0.05014, 0.05133, 0.02847, 0.04195], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PTv3@ptv3-scannet200.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=ptv3-scannet200 -o encoder__Scale-Balanced-Grasp__PTv3@ptv3-scannet200.yaml", "config_hash": "ef8e730972671951", "run": "2026-10-15@1c8fd45", "seconds": 168.9},
  {"id": "encoder/Scale-Balanced-Grasp/PTv3@ptv3", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=ptv3", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.50x, loss/tolerance 0.55x"], "terms": {"loss/objectness": [0.09849, 0.1975, 0.499], "loss/view": [0.07308, 0.08244, 0.887], "loss/score": [0.01314, 0.01418, 0.926], "loss/angle": [0.2928, 0.3132, 0.935], "loss/width": [0.009542, 0.01146, 0.833], "loss/tolerance": [0.003857, 0.007067, 0.546]}, "rise": {"loss/objectness": -0.107, "loss/view": -0.042, "loss/score": -0.015, "loss/angle": -0.104, "loss/width": -0.001, "loss/tolerance": -0.28}, "grasps_per_frame": [122, 125, 131, 109], "no_gradient": [], "unchanged": [], "score_median": [0.04318, 0.05852, 0.04006, 0.05687], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PTv3@ptv3.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=ptv3 -o encoder__Scale-Balanced-Grasp__PTv3@ptv3.yaml", "config_hash": "7f9112c56063c53b", "run": "2026-10-15@1c8fd45", "seconds": 188.6},
  {"id": "encoder/GSNet/PTv3Sonata@ptv3-sonata-small", "kind": "encoder", "method": "GSNet", "option": "backbone=ptv3-sonata-small", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 1.261x the reference (tolerance 1.25)"], "notes": ["unstable: 5 of 250 iterations had no real seed (iteration 3, 6, 7, 11, 17)."], "terms": {"loss/objectness": [0.1969, 0.1562, 1.261], "loss/graspness": [0.08445, 0.07598, 1.112], "loss/view": [0.7033, 0.8476, 0.83], "loss/score": [0.02637, 0.0313, 0.842], "loss/width": [0.09957, 0.101, 0.985]}, "rise": {"loss/objectness": -0.333, "loss/graspness": -0.348, "loss/view": 0.101, "loss/score": 0.093, "loss/width": -0.133}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06531, 0.05489, 0.06694, 0.05929], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PTv3Sonata@ptv3-sonata-small.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=ptv3-sonata-small -o encoder__GSNet__PTv3Sonata@ptv3-sonata-small.yaml", "config_hash": "126fee8ba2cbe005", "run": "2026-10-15@1c8fd45", "seconds": 189.6},
  {"id": "encoder/GSNet/PTv3Sonata@ptv3-sonata", "kind": "encoder", "method": "GSNet", "option": "backbone=ptv3-sonata", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 3.255x the reference (tolerance 1.25)", "loss/graspness 4.376x the reference (tolerance 1.25)", "loss/width 1.469x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.62x, loss/score 0.54x", "unstable: 7 of 250 iterations had no real seed (iteration 4, 5, 9, 11, 13, 14 ...)."], "terms": {"loss/objectness": [0.5084, 0.1562, 3.255], "loss/graspness": [0.3324, 0.07598, 4.376], "loss/view": [0.5276, 0.8476, 0.622], "loss/score": [0.01692, 0.0313, 0.541], "loss/width": [0.1485, 0.101, 1.469]}, "rise": {"loss/objectness": -0.057, "loss/graspness": 0.05, "loss/view": 0.02, "loss/score": 0.088, "loss/width": 0.039}, "grasps_per_frame": [1, 0, 89, 1], "no_gradient": [], "unchanged": [], "score_median": [0.06016, null, 0.0613, 0.07386], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PTv3Sonata@ptv3-sonata.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=ptv3-sonata -o encoder__GSNet__PTv3Sonata@ptv3-sonata.yaml", "config_hash": "260f3ba95985de10", "run": "2026-10-15@1c8fd45", "seconds": 219.1},
  {"id": "encoder/EconomicGrasp/PTv3Sonata@ptv3-sonata-small", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=ptv3-sonata-small", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 1.628x the reference (tolerance 1.25)", "loss/graspness 1.475x the reference (tolerance 1.25)"], "notes": ["unstable: 2 of 250 iterations had no real seed (iteration 3, 6)."], "terms": {"loss/objectness": [0.2049, 0.1259, 1.628], "loss/graspness": [0.09348, 0.06338, 1.475], "loss/view": [0.7672, 0.8303, 0.924], "loss/angle": [1.266, 1.543, 0.821], "loss/depth": [0.6794, 0.7779, 0.873], "loss/score": [1.12, 1.31, 0.855], "loss/width": [0.6792, 0.5737, 1.184]}, "rise": {"loss/objectness": -0.304, "loss/graspness": -0.379, "loss/view": -0.013, "loss/angle": 0.029, "loss/depth": -0.016, "loss/score": 0.054, "loss/width": -0.094}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.161, -1.272, -1.229, -1.073], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PTv3Sonata@ptv3-sonata-small.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-sonata-small -o encoder__EconomicGrasp__PTv3Sonata@ptv3-sonata-small.yaml", "config_hash": "052dec66eb5f7e36", "run": "2026-10-15@1c8fd45", "seconds": 180.5},
  {"id": "encoder/EconomicGrasp/PTv3Sonata@ptv3-sonata", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=ptv3-sonata", "level1": "runs-unstable", "outcome": "diverging", "reasons": ["loss/angle rises +20 % over the last half; the reference +3 %", "loss/depth rises +18 % over the last half; the reference +3 %", "loss/objectness 3.684x the reference (tolerance 1.25)", "loss/graspness 6.514x the reference (tolerance 1.25)", "loss/width 1.353x the reference (tolerance 1.25)"], "notes": ["unstable: 5 of 250 iterations had no real seed (iteration 4, 5, 7, 15, 123)."], "terms": {"loss/objectness": [0.4637, 0.1259, 3.684], "loss/graspness": [0.4129, 0.06338, 6.514], "loss/view": [0.7822, 0.8303, 0.942], "loss/angle": [1.504, 1.543, 0.974], "loss/depth": [0.8348, 0.7779, 1.073], "loss/score": [1.253, 1.31, 0.956], "loss/width": [0.7761, 0.5737, 1.353]}, "rise": {"loss/objectness": -0.05, "loss/graspness": -0.304, "loss/view": 0.041, "loss/angle": 0.195, "loss/depth": 0.18, "loss/score": 0.178, "loss/width": -0.012}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.048, -1.073, -1.074, -1.058], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PTv3Sonata@ptv3-sonata.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-sonata -o encoder__EconomicGrasp__PTv3Sonata@ptv3-sonata.yaml", "config_hash": "46dc21aa84450f22", "run": "2026-10-15@1c8fd45", "seconds": 209.2},
  {"id": "encoder/FineGrasp/PTv3Sonata@ptv3-sonata-small", "kind": "encoder", "method": "FineGrasp", "option": "backbone=ptv3-sonata-small", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 1.446x the reference (tolerance 1.25)", "loss/graspness 1.494x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.13, 0.08986, 1.446], "loss/graspness": [0.07054, 0.04722, 1.494], "loss/view": [0.615, 0.7334, 0.839], "loss/angle": [0.8252, 0.9369, 0.881], "loss/depth": [0.3989, 0.4363, 0.914], "loss/score": [0.728, 0.8125, 0.896], "loss/width": [0.3014, 0.3151, 0.956]}, "rise": {"loss/objectness": -0.163, "loss/graspness": -0.23, "loss/view": -0.114, "loss/angle": -0.134, "loss/depth": -0.123, "loss/score": -0.1, "loss/width": -0.268}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.543, -4.223, -4.632, -5.198], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PTv3Sonata@ptv3-sonata-small.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-sonata-small -o encoder__FineGrasp__PTv3Sonata@ptv3-sonata-small.yaml", "config_hash": "09b9a7c12033951e", "run": "2026-10-16@1c8fd45", "seconds": 516.3},
  {"id": "encoder/FineGrasp/PTv3Sonata@ptv3-sonata", "kind": "encoder", "method": "FineGrasp", "option": "backbone=ptv3-sonata", "level1": "runs", "outcome": "diverging", "reasons": ["loss/angle rises +49 % over the last half; the reference -16 %", "loss/depth rises +46 % over the last half; the reference -14 %", "loss/score rises +43 % over the last half; the reference -13 %", "loss/objectness 19.762x the reference (tolerance 1.25)", "loss/graspness 55.872x the reference (tolerance 1.25)", "loss/angle 1.465x the reference (tolerance 1.25)", "loss/depth 1.645x the reference (tolerance 1.25)", "loss/score 1.362x the reference (tolerance 1.25)", "loss/width 3.282x the reference (tolerance 1.25)"], "notes": ["unstable: 33 of 250 iterations had no real seed (iteration 57, 61, 69, 70, 73, 74 ...)."], "terms": {"loss/objectness": [1.776, 0.08986, 19.762], "loss/graspness": [2.638, 0.04722, 55.872], "loss/view": [0.6662, 0.7334, 0.908], "loss/angle": [1.372, 0.9369, 1.465], "loss/depth": [0.7178, 0.4363, 1.645], "loss/score": [1.107, 0.8125, 1.362], "loss/width": [1.034, 0.3151, 3.282]}, "rise": {"loss/objectness": -0.348, "loss/graspness": -0.816, "loss/view": -0.028, "loss/angle": 0.49, "loss/depth": 0.459, "loss/score": 0.428, "loss/width": 0.052}, "grasps_per_frame": [28, 32, 0, 19], "no_gradient": [], "unchanged": [], "score_median": [-1.396, -1.4, null, -1.397], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PTv3Sonata@ptv3-sonata.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-sonata -o encoder__FineGrasp__PTv3Sonata@ptv3-sonata.yaml", "config_hash": "a1a6b2ead7b8b839", "run": "2026-10-16@1c8fd45", "seconds": 568.1},
  {"id": "encoder/GraspNet-baseline/PTv3Sonata@ptv3-sonata-small", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=ptv3-sonata-small", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.56x"], "terms": {"loss/objectness": [0.2094, 0.3739, 0.56], "loss/view": [0.02763, 0.02976, 0.929], "loss/score": [0.02073, 0.02246, 0.923], "loss/angle": [0.3298, 0.3337, 0.989], "loss/width": [0.01368, 0.01289, 1.061], "loss/tolerance": [0.0218, 0.02008, 1.086]}, "rise": {"loss/objectness": -0.185, "loss/view": -0.051, "loss/score": -0.067, "loss/angle": -0.039, "loss/width": -0.191, "loss/tolerance": -0.305}, "grasps_per_frame": [523, 476, 533, 502], "no_gradient": [], "unchanged": [], "score_median": [0.2949, 0.2582, 0.2142, 0.1733], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PTv3Sonata@ptv3-sonata-small.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=ptv3-sonata-small -o encoder__GraspNet-baseline__PTv3Sonata@ptv3-sonata-small.yaml", "config_hash": "0098d264856a1fad", "run": "2026-10-15@1c8fd45", "seconds": 105.7},
  {"id": "encoder/GraspNet-baseline/PTv3Sonata@ptv3-sonata", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=ptv3-sonata", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.71x"], "terms": {"loss/objectness": [0.4044, 0.3739, 1.082], "loss/view": [0.03068, 0.02976, 1.031], "loss/score": [0.01977, 0.02246, 0.88], "loss/angle": [0.3383, 0.3337, 1.014], "loss/width": [0.01209, 0.01289, 0.938], "loss/tolerance": [0.01426, 0.02008, 0.71]}, "rise": {"loss/objectness": -0.008, "loss/view": -0.006, "loss/score": -0.099, "loss/angle": -0.033, "loss/width": -0.122, "loss/tolerance": -0.278}, "grasps_per_frame": [438, 529, 477, 598], "no_gradient": [], "unchanged": [], "score_median": [-0.05365, -0.007511, -0.01417, 0.001873], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PTv3Sonata@ptv3-sonata.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=ptv3-sonata -o encoder__GraspNet-baseline__PTv3Sonata@ptv3-sonata.yaml", "config_hash": "776c03f98a007a9b", "run": "2026-10-15@1c8fd45", "seconds": 128.9},
  {"id": "encoder/Scale-Balanced-Grasp/PTv3Sonata@ptv3-sonata-small", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=ptv3-sonata-small", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.59x, loss/width 0.80x"], "terms": {"loss/objectness": [0.1172, 0.1975, 0.593], "loss/view": [0.07523, 0.08244, 0.913], "loss/score": [0.0135, 0.01418, 0.952], "loss/angle": [0.3175, 0.3132, 1.014], "loss/width": [0.009142, 0.01146, 0.798], "loss/tolerance": [0.007519, 0.007067, 1.064]}, "rise": {"loss/objectness": -0.086, "loss/view": -0.046, "loss/score": -0.028, "loss/angle": -0.061, "loss/width": 0.142, "loss/tolerance": -0.261}, "grasps_per_frame": [123, 132, 142, 125], "no_gradient": [], "unchanged": [], "score_median": [0.03289, 0.02428, 0.005877, 0.0644], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PTv3Sonata@ptv3-sonata-small.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=ptv3-sonata-small -o encoder__Scale-Balanced-Grasp__PTv3Sonata@ptv3-sonata-small.yaml", "config_hash": "dbacd70ad2a4a944", "run": "2026-10-15@1c8fd45", "seconds": 155.3},
  {"id": "encoder/Scale-Balanced-Grasp/PTv3Sonata@ptv3-sonata", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=ptv3-sonata", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.63x, loss/width 0.49x, loss/tolerance 0.54x"], "terms": {"loss/objectness": [0.1248, 0.1975, 0.632], "loss/view": [0.07608, 0.08244, 0.923], "loss/score": [0.0147, 0.01418, 1.037], "loss/angle": [0.3361, 0.3132, 1.073], "loss/width": [0.00566, 0.01146, 0.494], "loss/tolerance": [0.003834, 0.007067, 0.543]}, "rise": {"loss/objectness": -0.145, "loss/view": -0.043, "loss/score": -0.037, "loss/angle": -0.062, "loss/width": -0.235, "loss/tolerance": -0.3}, "grasps_per_frame": [127, 155, 147, 149], "no_gradient": [], "unchanged": [], "score_median": [0.05688, 0.04166, 0.05039, 0.03877], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PTv3Sonata@ptv3-sonata.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=ptv3-sonata -o encoder__Scale-Balanced-Grasp__PTv3Sonata@ptv3-sonata.yaml", "config_hash": "d6e7820f0002c840", "run": "2026-10-15@1c8fd45", "seconds": 165.2},
  {"id": "encoder/GSNet/PTv3Utonia", "kind": "encoder", "method": "GSNet", "option": "backbone=ptv3-utonia", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 3.186x the reference (tolerance 1.25)", "loss/graspness 3.703x the reference (tolerance 1.25)", "loss/width 1.357x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.62x, loss/score 0.52x", "unstable: 5 of 250 iterations had no real seed (iteration 3, 5, 8, 13, 18)."], "terms": {"loss/objectness": [0.4976, 0.1562, 3.186], "loss/graspness": [0.2814, 0.07598, 3.703], "loss/view": [0.5248, 0.8476, 0.619], "loss/score": [0.01641, 0.0313, 0.524], "loss/width": [0.1372, 0.101, 1.357]}, "rise": {"loss/objectness": 0.002, "loss/graspness": -0.167, "loss/view": -0.013, "loss/score": -0.107, "loss/width": -0.182}, "grasps_per_frame": [58, 35, 193, 51], "no_gradient": [], "unchanged": [], "score_median": [0.1017, 0.107, 0.08368, 0.08946], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PTv3Utonia.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=ptv3-utonia -o encoder__GSNet__PTv3Utonia.yaml", "config_hash": "c638cf3bf49e14a1", "run": "2026-10-15@1c8fd45", "seconds": 211.1},
  {"id": "encoder/EconomicGrasp/PTv3Utonia", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=ptv3-utonia", "level1": "runs-unstable", "outcome": "diverging", "reasons": ["loss/depth rises +19 % over the last half; the reference +3 %", "loss/objectness 3.746x the reference (tolerance 1.25)", "loss/graspness 3.486x the reference (tolerance 1.25)", "loss/width 1.351x the reference (tolerance 1.25)"], "notes": ["unstable: 9 of 250 iterations had no real seed (iteration 3, 5, 8, 9, 13, 20 ...)."], "terms": {"loss/objectness": [0.4716, 0.1259, 3.746], "loss/graspness": [0.221, 0.06338, 3.486], "loss/view": [0.7787, 0.8303, 0.938], "loss/angle": [1.338, 1.543, 0.867], "loss/depth": [0.731, 0.7779, 0.94], "loss/score": [1.12, 1.31, 0.856], "loss/width": [0.775, 0.5737, 1.351]}, "rise": {"loss/objectness": -0.045, "loss/graspness": -0.03, "loss/view": -0.012, "loss/angle": 0.18, "loss/depth": 0.193, "loss/score": 0.165, "loss/width": 0.02}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.6071, -0.6405, -0.6851, -0.609], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PTv3Utonia.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-utonia -o encoder__EconomicGrasp__PTv3Utonia.yaml", "config_hash": "e63783a3cf572e2b", "run": "2026-10-15@1c8fd45", "seconds": 190.4},
  {"id": "encoder/FineGrasp/PTv3Utonia", "kind": "encoder", "method": "FineGrasp", "option": "backbone=ptv3-utonia", "level1": "runs-empty", "outcome": "diverging", "reasons": ["loss/objectness rises +47 % over the last half; the reference -17 %", "loss/graspness rises +108 % over the last half; the reference -28 %", "loss/objectness 14.234x the reference (tolerance 1.25)", "loss/graspness 143.371x the reference (tolerance 1.25)", "loss/width 1.714x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.77x, loss/score 0.76x", "unstable: 26 of 250 iterations had no real seed (iteration 35, 36, 69, 81, 89, 101 ...)."], "terms": {"loss/objectness": [1.279, 0.08986, 14.234], "loss/graspness": [6.77, 0.04722, 143.371], "loss/view": [0.7329, 0.7334, 0.999], "loss/angle": [0.7255, 0.9369, 0.774], "loss/depth": [0.3778, 0.4363, 0.866], "loss/score": [0.6177, 0.8125, 0.76], "loss/width": [0.5401, 0.3151, 1.714]}, "rise": {"loss/objectness": 0.467, "loss/graspness": 1.082, "loss/view": -0.046, "loss/angle": -0.315, "loss/depth": -0.354, "loss/score": -0.317, "loss/width": -0.259}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.004, -2.006, -2.005, -2.004], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PTv3Utonia.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=ptv3-utonia -o encoder__FineGrasp__PTv3Utonia.yaml", "config_hash": "a45ac6c12a776889", "run": "2026-10-16@1c8fd45", "seconds": 604.7},
  {"id": "encoder/GraspNet-baseline/PTv3Utonia", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=ptv3-utonia", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.72x"], "terms": {"loss/objectness": [0.3185, 0.3739, 0.852], "loss/view": [0.02997, 0.02976, 1.007], "loss/score": [0.02126, 0.02246, 0.946], "loss/angle": [0.3318, 0.3337, 0.994], "loss/width": [0.0116, 0.01289, 0.9], "loss/tolerance": [0.01439, 0.02008, 0.717]}, "rise": {"loss/objectness": -0.095, "loss/view": -0.03, "loss/score": -0.033, "loss/angle": -0.046, "loss/width": -0.112, "loss/tolerance": -0.278}, "grasps_per_frame": [542, 530, 523, 502], "no_gradient": [], "unchanged": [], "score_median": [0.1668, 0.1104, 0.1405, 0.1668], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PTv3Utonia.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=ptv3-utonia -o encoder__GraspNet-baseline__PTv3Utonia.yaml", "config_hash": "4806ae511e23fac5", "run": "2026-10-15@1c8fd45", "seconds": 131.5},
  {"id": "encoder/Scale-Balanced-Grasp/PTv3Utonia", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=ptv3-utonia", "level1": "runs-empty", "outcome": "diverging", "reasons": ["loss/width rises +40 % over the last half; the reference +14 %"], "notes": ["lower than the reference: loss/objectness 0.63x, loss/width 0.71x, loss/tolerance 0.57x"], "terms": {"loss/objectness": [0.1244, 0.1975, 0.63], "loss/view": [0.07444, 0.08244, 0.903], "loss/score": [0.01563, 0.01418, 1.102], "loss/angle": [0.3325, 0.3132, 1.062], "loss/width": [0.008179, 0.01146, 0.714], "loss/tolerance": [0.003998, 0.007067, 0.566]}, "rise": {"loss/objectness": -0.16, "loss/view": -0.047, "loss/score": -0.069, "loss/angle": -0.067, "loss/width": 0.405, "loss/tolerance": -0.231}, "grasps_per_frame": [127, 130, 133, 128], "no_gradient": [], "unchanged": [], "score_median": [0.04713, 0.06433, 0.0736, 0.05962], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PTv3Utonia.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=ptv3-utonia -o encoder__Scale-Balanced-Grasp__PTv3Utonia.yaml", "config_hash": "73add629a929619d", "run": "2026-10-15@1c8fd45", "seconds": 160.8},
  {"id": "encoder/GSNet/PointMLP", "kind": "encoder", "method": "GSNet", "option": "backbone=pointmlp", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.207x the reference (tolerance 1.25)", "loss/graspness 2.128x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.76x, loss/score 0.64x"], "terms": {"loss/objectness": [0.3447, 0.1562, 2.207], "loss/graspness": [0.1617, 0.07598, 2.128], "loss/view": [0.6454, 0.8476, 0.761], "loss/score": [0.01999, 0.0313, 0.639], "loss/width": [0.1132, 0.101, 1.12]}, "rise": {"loss/objectness": -0.13, "loss/graspness": -0.245, "loss/view": 0.1, "loss/score": 0.112, "loss/width": -0.092}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04185, 0.05689, 0.04844, 0.05942], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointMLP.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointmlp -o encoder__GSNet__PointMLP.yaml", "config_hash": "253c823f11f1c20a", "run": "2026-10-15@1c8fd45", "seconds": 165.2},
  {"id": "encoder/EconomicGrasp/PointMLP", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointmlp", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.137x the reference (tolerance 1.25)", "loss/graspness 2.045x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.269, 0.1259, 2.137], "loss/graspness": [0.1296, 0.06338, 2.045], "loss/view": [0.7885, 0.8303, 0.95], "loss/angle": [1.34, 1.543, 0.868], "loss/depth": [0.7485, 0.7779, 0.962], "loss/score": [1.168, 1.31, 0.892], "loss/width": [0.7018, 0.5737, 1.223]}, "rise": {"loss/objectness": -0.12, "loss/graspness": -0.135, "loss/view": 0.012, "loss/angle": 0.014, "loss/depth": 0.009, "loss/score": 0.022, "loss/width": -0.056}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.347, -3.997, -2.98, -2.73], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointMLP.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointmlp -o encoder__EconomicGrasp__PointMLP.yaml", "config_hash": "ebf0a85d51dbf123", "run": "2026-10-15@1c8fd45", "seconds": 197.4},
  {"id": "encoder/FineGrasp/PointMLP", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointmlp", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.973x the reference (tolerance 1.25)", "loss/graspness 2.493x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1773, 0.08986, 1.973], "loss/graspness": [0.1177, 0.04722, 2.493], "loss/view": [0.7738, 0.7334, 1.055], "loss/angle": [0.9186, 0.9369, 0.98], "loss/depth": [0.4341, 0.4363, 0.995], "loss/score": [0.8261, 0.8125, 1.017], "loss/width": [0.3324, 0.3151, 1.055]}, "rise": {"loss/objectness": -0.289, "loss/graspness": -0.297, "loss/view": 0.065, "loss/angle": -0.119, "loss/depth": -0.133, "loss/score": -0.082, "loss/width": -0.205}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.766, -2.901, -3.817, -3.932], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointMLP.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointmlp -o encoder__FineGrasp__PointMLP.yaml", "config_hash": "8f2e158a0c82a7a1", "run": "2026-10-16@1c8fd45", "seconds": 630.9},
  {"id": "encoder/GraspNet-baseline/PointMLP", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointmlp", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3579, 0.3739, 0.957], "loss/view": [0.03249, 0.02976, 1.092], "loss/score": [0.02067, 0.02246, 0.92], "loss/angle": [0.333, 0.3337, 0.998], "loss/width": [0.0129, 0.01289, 1.001], "loss/tolerance": [0.01685, 0.02008, 0.839]}, "rise": {"loss/objectness": -0.081, "loss/view": -0.001, "loss/score": -0.028, "loss/angle": -0.04, "loss/width": -0.184, "loss/tolerance": -0.286}, "grasps_per_frame": [143, 447, 511, 462], "no_gradient": [], "unchanged": [], "score_median": [0.2583, 0.07987, 0.1594, 0.1529], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointMLP.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointmlp -o encoder__GraspNet-baseline__PointMLP.yaml", "config_hash": "65124c1a0ea9b7c8", "run": "2026-10-15@1c8fd45", "seconds": 129.1},
  {"id": "encoder/Scale-Balanced-Grasp/PointMLP", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointmlp", "level1": "runs-empty", "outcome": "diverging", "reasons": ["loss/tolerance rises +13 % over the last half; the reference -23 %", "loss/objectness 1.258x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/tolerance 0.73x"], "terms": {"loss/objectness": [0.2484, 0.1975, 1.258], "loss/view": [0.09055, 0.08244, 1.098], "loss/score": [0.01298, 0.01418, 0.915], "loss/angle": [0.2912, 0.3132, 0.93], "loss/width": [0.009776, 0.01146, 0.853], "loss/tolerance": [0.005145, 0.007067, 0.728]}, "rise": {"loss/objectness": -0.071, "loss/view": 0.007, "loss/score": -0.05, "loss/angle": -0.093, "loss/width": 0.154, "loss/tolerance": 0.127}, "grasps_per_frame": [16, 69, 75, 95], "no_gradient": [], "unchanged": [], "score_median": [0.007143, -0.0004343, 0.002253, 0.02103], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointMLP.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointmlp -o encoder__Scale-Balanced-Grasp__PointMLP.yaml", "config_hash": "a07dcfc47013a236", "run": "2026-10-15@1c8fd45", "seconds": 158.5},
  {"id": "encoder/GSNet/PointMamba", "kind": "encoder", "method": "GSNet", "option": "backbone=point-mamba", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.306x the reference (tolerance 1.25)", "loss/graspness 1.258x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.204, 0.1562, 1.306], "loss/graspness": [0.09556, 0.07598, 1.258], "loss/view": [0.748, 0.8476, 0.883], "loss/score": [0.02698, 0.0313, 0.862], "loss/width": [0.09378, 0.101, 0.928]}, "rise": {"loss/objectness": -0.192, "loss/graspness": -0.177, "loss/view": 0.062, "loss/score": 0.115, "loss/width": -0.081}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06881, 0.06759, 0.06142, 0.06931], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointMamba.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=point-mamba -o encoder__GSNet__PointMamba.yaml", "config_hash": "ad414c6b4aa5db89", "run": "2026-10-15@1c8fd45", "seconds": 140.5},
  {"id": "encoder/EconomicGrasp/PointMamba", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=point-mamba", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.826x the reference (tolerance 1.25)", "loss/graspness 1.659x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2298, 0.1259, 1.826], "loss/graspness": [0.1052, 0.06338, 1.659], "loss/view": [0.8184, 0.8303, 0.986], "loss/angle": [1.244, 1.543, 0.806], "loss/depth": [0.6324, 0.7779, 0.813], "loss/score": [1.065, 1.31, 0.813], "loss/width": [0.4963, 0.5737, 0.865]}, "rise": {"loss/objectness": -0.099, "loss/graspness": -0.132, "loss/view": 0.035, "loss/angle": -0.072, "loss/depth": -0.098, "loss/score": -0.071, "loss/width": -0.179}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.409, -1.126, -0.9743, -1.657], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointMamba.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=point-mamba -o encoder__EconomicGrasp__PointMamba.yaml", "config_hash": "34207267b187ab64", "run": "2026-10-15@1c8fd45", "seconds": 149.1},
  {"id": "encoder/FineGrasp/PointMamba", "kind": "encoder", "method": "FineGrasp", "option": "backbone=point-mamba", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.522x the reference (tolerance 1.25)", "loss/graspness 1.710x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1368, 0.08986, 1.522], "loss/graspness": [0.08077, 0.04722, 1.71], "loss/view": [0.7598, 0.7334, 1.036], "loss/angle": [0.8026, 0.9369, 0.857], "loss/depth": [0.3842, 0.4363, 0.881], "loss/score": [0.7178, 0.8125, 0.883], "loss/width": [0.2939, 0.3151, 0.933]}, "rise": {"loss/objectness": -0.234, "loss/graspness": -0.3, "loss/view": -0.019, "loss/angle": -0.114, "loss/depth": -0.098, "loss/score": -0.077, "loss/width": -0.194}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.712, -3.211, -3.786, -2.589], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointMamba.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=point-mamba -o encoder__FineGrasp__PointMamba.yaml", "config_hash": "8ba33928fb60fc1b", "run": "2026-10-16@1c8fd45", "seconds": 541.3},
  {"id": "encoder/GraspNet-baseline/PointMamba", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=point-mamba", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3392, 0.3739, 0.907], "loss/view": [0.03078, 0.02976, 1.034], "loss/score": [0.02036, 0.02246, 0.906], "loss/angle": [0.3321, 0.3337, 0.995], "loss/width": [0.01321, 0.01289, 1.025], "loss/tolerance": [0.0179, 0.02008, 0.892]}, "rise": {"loss/objectness": -0.094, "loss/view": -0.033, "loss/score": -0.052, "loss/angle": -0.039, "loss/width": -0.175, "loss/tolerance": -0.348}, "grasps_per_frame": [556, 564, 550, 511], "no_gradient": [], "unchanged": [], "score_median": [0.2147, 0.1839, 0.1691, 0.1169], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointMamba.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=point-mamba -o encoder__GraspNet-baseline__PointMamba.yaml", "config_hash": "8c105e89c8395433", "run": "2026-10-15@1c8fd45", "seconds": 94.1},
  {"id": "encoder/Scale-Balanced-Grasp/PointMamba", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=point-mamba", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.74x"], "terms": {"loss/objectness": [0.2087, 0.1975, 1.057], "loss/view": [0.08193, 0.08244, 0.994], "loss/score": [0.01194, 0.01418, 0.842], "loss/angle": [0.2977, 0.3132, 0.951], "loss/width": [0.008502, 0.01146, 0.742], "loss/tolerance": [0.00632, 0.007067, 0.894]}, "rise": {"loss/objectness": -0.049, "loss/view": -0.009, "loss/score": -0.086, "loss/angle": -0.08, "loss/width": -0.103, "loss/tolerance": -0.242}, "grasps_per_frame": [119, 77, 114, 69], "no_gradient": [], "unchanged": [], "score_median": [0.05092, 0.0893, 0.03892, 0.03832], "checked": [18, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointMamba.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=point-mamba -o encoder__Scale-Balanced-Grasp__PointMamba.yaml", "config_hash": "19914e7fd7bca660", "run": "2026-10-15@1c8fd45", "seconds": 123.3},
  {"id": "encoder/GSNet/PointMetaBase@pointmetabase-xl", "kind": "encoder", "method": "GSNet", "option": "backbone=pointmetabase-xl", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.50x, loss/width 0.78x"], "terms": {"loss/objectness": [0.1398, 0.1562, 0.895], "loss/graspness": [0.03829, 0.07598, 0.504], "loss/view": [0.8809, 0.8476, 1.039], "loss/score": [0.03089, 0.0313, 0.987], "loss/width": [0.07912, 0.101, 0.783]}, "rise": {"loss/objectness": -0.083, "loss/graspness": -0.153, "loss/view": -0.035, "loss/score": -0.009, "loss/width": -0.056}, "grasps_per_frame": [41, 37, 80, 115], "no_gradient": [], "unchanged": [], "score_median": [0.2469, 0.2008, 0.2319, 0.1847], "checked": [9, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointMetaBase@pointmetabase-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointmetabase-xl -o encoder__GSNet__PointMetaBase@pointmetabase-xl.yaml", "config_hash": "77246ea229253dd0", "run": "2026-10-15@1c8fd45", "seconds": 137.0},
  {"id": "encoder/GSNet/PointMetaBase@pointmetabase", "kind": "encoder", "method": "GSNet", "option": "backbone=pointmetabase", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.74x"], "terms": {"loss/objectness": [0.1703, 0.1562, 1.09], "loss/graspness": [0.05637, 0.07598, 0.742], "loss/view": [0.8993, 0.8476, 1.061], "loss/score": [0.02681, 0.0313, 0.857], "loss/width": [0.08338, 0.101, 0.825]}, "rise": {"loss/objectness": -0.134, "loss/graspness": -0.216, "loss/view": 0.039, "loss/score": 0.071, "loss/width": -0.095}, "grasps_per_frame": [123, 174, 439, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08051, 0.0866, 0.07137, 0.07991], "checked": [9, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointMetaBase@pointmetabase.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointmetabase -o encoder__GSNet__PointMetaBase@pointmetabase.yaml", "config_hash": "bd54ea6edf95163b", "run": "2026-10-15@1c8fd45", "seconds": 116.9},
  {"id": "encoder/EconomicGrasp/PointMetaBase@pointmetabase-xl", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointmetabase-xl", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.74x, loss/angle 0.66x, loss/depth 0.63x, loss/score 0.66x, loss/width 0.62x"], "terms": {"loss/objectness": [0.1479, 0.1259, 1.175], "loss/graspness": [0.04719, 0.06338, 0.744], "loss/view": [0.8976, 0.8303, 1.081], "loss/angle": [1.026, 1.543, 0.665], "loss/depth": [0.4932, 0.7779, 0.634], "loss/score": [0.8676, 1.31, 0.663], "loss/width": [0.3563, 0.5737, 0.621]}, "rise": {"loss/objectness": -0.088, "loss/graspness": -0.253, "loss/view": 0.004, "loss/angle": -0.04, "loss/depth": -0.056, "loss/score": -0.035, "loss/width": -0.146}, "grasps_per_frame": [198, 220, 223, 37], "no_gradient": [], "unchanged": [], "score_median": [-6.049, -5.176, -5.901, -5.837], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointMetaBase@pointmetabase-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointmetabase-xl -o encoder__EconomicGrasp__PointMetaBase@pointmetabase-xl.yaml", "config_hash": "1b08e26652ec9f89", "run": "2026-10-15@1c8fd45", "seconds": 160.0},
  {"id": "encoder/EconomicGrasp/PointMetaBase@pointmetabase", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointmetabase", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.497x the reference (tolerance 1.25)", "loss/graspness 1.404x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.65x, loss/depth 0.61x, loss/score 0.64x, loss/width 0.73x"], "terms": {"loss/objectness": [0.1884, 0.1259, 1.497], "loss/graspness": [0.08899, 0.06338, 1.404], "loss/view": [0.8867, 0.8303, 1.068], "loss/angle": [1.001, 1.543, 0.649], "loss/depth": [0.4773, 0.7779, 0.614], "loss/score": [0.8422, 1.31, 0.643], "loss/width": [0.4203, 0.5737, 0.733]}, "rise": {"loss/objectness": -0.188, "loss/graspness": -0.196, "loss/view": 0.041, "loss/angle": 0.004, "loss/depth": -0.028, "loss/score": -0.003, "loss/width": -0.148}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.045, -2.909, -2.392, -1.658], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointMetaBase@pointmetabase.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointmetabase -o encoder__EconomicGrasp__PointMetaBase@pointmetabase.yaml", "config_hash": "97e464a42ad6324a", "run": "2026-10-15@1c8fd45", "seconds": 130.5},
  {"id": "encoder/FineGrasp/PointMetaBase@pointmetabase-xl", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointmetabase-xl", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.304x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.74x, loss/depth 0.78x, loss/score 0.78x"], "terms": {"loss/objectness": [0.1172, 0.08986, 1.304], "loss/graspness": [0.04701, 0.04722, 0.996], "loss/view": [0.7681, 0.7334, 1.047], "loss/angle": [0.6977, 0.9369, 0.745], "loss/depth": [0.3411, 0.4363, 0.782], "loss/score": [0.6357, 0.8125, 0.782], "loss/width": [0.2575, 0.3151, 0.817]}, "rise": {"loss/objectness": -0.113, "loss/graspness": -0.194, "loss/view": -0.054, "loss/angle": -0.072, "loss/depth": -0.048, "loss/score": -0.052, "loss/width": -0.15}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.933, -4.173, -4.91, -4.783], "checked": [11, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointMetaBase@pointmetabase-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointmetabase-xl -o encoder__FineGrasp__PointMetaBase@pointmetabase-xl.yaml", "config_hash": "a397cae040a9c56c", "run": "2026-10-16@1c8fd45", "seconds": 560.0},
  {"id": "encoder/FineGrasp/PointMetaBase@pointmetabase", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointmetabase", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.567x the reference (tolerance 1.25)", "loss/graspness 1.310x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.74x, loss/depth 0.78x, loss/score 0.77x"], "terms": {"loss/objectness": [0.1408, 0.08986, 1.567], "loss/graspness": [0.06185, 0.04722, 1.31], "loss/view": [0.8292, 0.7334, 1.131], "loss/angle": [0.693, 0.9369, 0.74], "loss/depth": [0.3387, 0.4363, 0.776], "loss/score": [0.6273, 0.8125, 0.772], "loss/width": [0.2619, 0.3151, 0.831]}, "rise": {"loss/objectness": -0.154, "loss/graspness": -0.316, "loss/view": -0.037, "loss/angle": -0.06, "loss/depth": -0.028, "loss/score": -0.029, "loss/width": -0.166}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-5.558, -5.268, -5.192, -4.595], "checked": [11, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointMetaBase@pointmetabase.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointmetabase -o encoder__FineGrasp__PointMetaBase@pointmetabase.yaml", "config_hash": "b443cdf9992bf8ef", "run": "2026-10-16@1c8fd45", "seconds": 497.3},
  {"id": "encoder/GraspNet-baseline/PointMetaBase@pointmetabase-xl", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointmetabase-xl", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.49x"], "terms": {"loss/objectness": [0.1838, 0.3739, 0.492], "loss/view": [0.02486, 0.02976, 0.835], "loss/score": [0.02039, 0.02246, 0.908], "loss/angle": [0.3308, 0.3337, 0.991], "loss/width": [0.01172, 0.01289, 0.909], "loss/tolerance": [0.01728, 0.02008, 0.86]}, "rise": {"loss/objectness": -0.062, "loss/view": -0.041, "loss/score": -0.083, "loss/angle": -0.036, "loss/width": -0.161, "loss/tolerance": -0.281}, "grasps_per_frame": [586, 492, 586, 601], "no_gradient": [], "unchanged": [], "score_median": [0.2578, 0.3484, 0.254, 0.2116], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointMetaBase@pointmetabase-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointmetabase-xl -o encoder__GraspNet-baseline__PointMetaBase@pointmetabase-xl.yaml", "config_hash": "a7ea6230058af736", "run": "2026-10-15@1c8fd45", "seconds": 109.4},
  {"id": "encoder/GraspNet-baseline/PointMetaBase@pointmetabase", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointmetabase", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.57x, loss/tolerance 0.71x"], "terms": {"loss/objectness": [0.2123, 0.3739, 0.568], "loss/view": [0.02671, 0.02976, 0.898], "loss/score": [0.02058, 0.02246, 0.916], "loss/angle": [0.3224, 0.3337, 0.966], "loss/width": [0.01225, 0.01289, 0.95], "loss/tolerance": [0.01427, 0.02008, 0.711]}, "rise": {"loss/objectness": -0.085, "loss/view": -0.062, "loss/score": -0.102, "loss/angle": -0.057, "loss/width": -0.064, "loss/tolerance": -0.272}, "grasps_per_frame": [547, 447, 532, 546], "no_gradient": [], "unchanged": [], "score_median": [0.2661, 0.2293, 0.2124, 0.1891], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointMetaBase@pointmetabase.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointmetabase -o encoder__GraspNet-baseline__PointMetaBase@pointmetabase.yaml", "config_hash": "5d02686dcc7d2d66", "run": "2026-10-15@1c8fd45", "seconds": 95.7},
  {"id": "encoder/Scale-Balanced-Grasp/PointMetaBase@pointmetabase-xl", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointmetabase-xl", "level1": "runs-empty", "outcome": "diverging", "reasons": ["loss/width rises +33 % over the last half; the reference +14 %", "loss/width 1.588x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.63x"], "terms": {"loss/objectness": [0.1254, 0.1975, 0.635], "loss/view": [0.07785, 0.08244, 0.944], "loss/score": [0.01288, 0.01418, 0.908], "loss/angle": [0.2972, 0.3132, 0.949], "loss/width": [0.01819, 0.01146, 1.588], "loss/tolerance": [0.007529, 0.007067, 1.065]}, "rise": {"loss/objectness": -0.087, "loss/view": -0.034, "loss/score": -0.025, "loss/angle": -0.088, "loss/width": 0.326, "loss/tolerance": -0.357}, "grasps_per_frame": [31, 17, 51, 58], "no_gradient": [], "unchanged": [], "score_median": [0.04506, 0.06857, 0.02295, 0.05791], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointMetaBase@pointmetabase-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointmetabase-xl -o encoder__Scale-Balanced-Grasp__PointMetaBase@pointmetabase-xl.yaml", "config_hash": "b575b6e016d38305", "run": "2026-10-15@1c8fd45", "seconds": 140.5},
  {"id": "encoder/Scale-Balanced-Grasp/PointMetaBase@pointmetabase", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointmetabase", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.73x"], "terms": {"loss/objectness": [0.144, 0.1975, 0.729], "loss/view": [0.08678, 0.08244, 1.053], "loss/score": [0.01254, 0.01418, 0.884], "loss/angle": [0.3071, 0.3132, 0.981], "loss/width": [0.009398, 0.01146, 0.82], "loss/tolerance": [0.006502, 0.007067, 0.92]}, "rise": {"loss/objectness": -0.096, "loss/view": -0.013, "loss/score": -0.034, "loss/angle": -0.072, "loss/width": -0.053, "loss/tolerance": -0.23}, "grasps_per_frame": [120, 117, 92, 56], "no_gradient": [], "unchanged": [], "score_median": [0.04107, 0.03788, 0.07828, 0.06341], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointMetaBase@pointmetabase.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointmetabase -o encoder__Scale-Balanced-Grasp__PointMetaBase@pointmetabase.yaml", "config_hash": "be039934f38bbe60", "run": "2026-10-15@1c8fd45", "seconds": 124.7},
  {"id": "encoder/GSNet/PointNeXt@pointnext-b", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnext-b", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1842, 0.1562, 1.18], "loss/graspness": [0.06095, 0.07598, 0.802], "loss/view": [0.903, 0.8476, 1.065], "loss/score": [0.02663, 0.0313, 0.851], "loss/width": [0.08284, 0.101, 0.82]}, "rise": {"loss/objectness": -0.159, "loss/graspness": -0.209, "loss/view": 0.051, "loss/score": 0.051, "loss/width": -0.087}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07249, 0.06956, 0.07412, 0.06624], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNeXt@pointnext-b.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnext-b -o encoder__GSNet__PointNeXt@pointnext-b.yaml", "config_hash": "b9885bc954df9a19", "run": "2026-10-15@1c8fd45", "seconds": 117.2},
  {"id": "encoder/GSNet/PointNeXt@pointnext-l", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnext-l", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.621x the reference (tolerance 1.25)", "loss/graspness 1.262x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.65x"], "terms": {"loss/objectness": [0.2531, 0.1562, 1.621], "loss/graspness": [0.09586, 0.07598, 1.262], "loss/view": [0.8053, 0.8476, 0.95], "loss/score": [0.02019, 0.0313, 0.645], "loss/width": [0.09556, 0.101, 0.946]}, "rise": {"loss/objectness": -0.184, "loss/graspness": -0.163, "loss/view": 0.092, "loss/score": 0.091, "loss/width": -0.13}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06159, 0.06092, 0.0585, 0.05379], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNeXt@pointnext-l.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnext-l -o encoder__GSNet__PointNeXt@pointnext-l.yaml", "config_hash": "f53411a0870dcd55", "run": "2026-10-15@1c8fd45", "seconds": 125.2},
  {"id": "encoder/GSNet/PointNeXt@pointnext-xl", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnext-xl", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.429x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2232, 0.1562, 1.429], "loss/graspness": [0.08097, 0.07598, 1.066], "loss/view": [0.8202, 0.8476, 0.968], "loss/score": [0.02538, 0.0313, 0.811], "loss/width": [0.09233, 0.101, 0.914]}, "rise": {"loss/objectness": -0.094, "loss/graspness": -0.113, "loss/view": 0.025, "loss/score": 0.023, "loss/width": -0.048}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06517, 0.06957, 0.06675, 0.06126], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNeXt@pointnext-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnext-xl -o encoder__GSNet__PointNeXt@pointnext-xl.yaml", "config_hash": "78bca4ad2ef6e2cd", "run": "2026-10-15@1c8fd45", "seconds": 166.9},
  {"id": "encoder/GSNet/PointNeXt@pointnext", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnext", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.65x, loss/width 0.78x"], "terms": {"loss/objectness": [0.1628, 0.1562, 1.042], "loss/graspness": [0.04914, 0.07598, 0.647], "loss/view": [0.9089, 0.8476, 1.072], "loss/score": [0.02745, 0.0313, 0.877], "loss/width": [0.07884, 0.101, 0.78]}, "rise": {"loss/objectness": -0.199, "loss/graspness": -0.23, "loss/view": 0.045, "loss/score": 0.042, "loss/width": -0.096}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06578, 0.0642, 0.06336, 0.06106], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNeXt@pointnext.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnext -o encoder__GSNet__PointNeXt@pointnext.yaml", "config_hash": "93f0a8c02c78dff0", "run": "2026-10-15@1c8fd45", "seconds": 110.3},
  {"id": "encoder/EconomicGrasp/PointNeXt@pointnext-b", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnext-b", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.711x the reference (tolerance 1.25)", "loss/graspness 1.428x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.67x, loss/depth 0.63x, loss/score 0.67x, loss/width 0.78x"], "terms": {"loss/objectness": [0.2154, 0.1259, 1.711], "loss/graspness": [0.09053, 0.06338, 1.428], "loss/view": [0.8552, 0.8303, 1.03], "loss/angle": [1.031, 1.543, 0.668], "loss/depth": [0.4939, 0.7779, 0.635], "loss/score": [0.8782, 1.31, 0.671], "loss/width": [0.4452, 0.5737, 0.776]}, "rise": {"loss/objectness": -0.211, "loss/graspness": -0.223, "loss/view": 0.037, "loss/angle": 0.023, "loss/depth": 0.031, "loss/score": 0.03, "loss/width": -0.149}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.95, -2.627, -2.39, -2.015], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNeXt@pointnext-b.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnext-b -o encoder__EconomicGrasp__PointNeXt@pointnext-b.yaml", "config_hash": "07162e7e30a8ccf7", "run": "2026-10-15@1c8fd45", "seconds": 130.2},
  {"id": "encoder/EconomicGrasp/PointNeXt@pointnext-l", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnext-l", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.264x the reference (tolerance 1.25)", "loss/graspness 1.921x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.64x, loss/depth 0.62x, loss/score 0.64x"], "terms": {"loss/objectness": [0.285, 0.1259, 2.264], "loss/graspness": [0.1218, 0.06338, 1.921], "loss/view": [0.8282, 0.8303, 0.998], "loss/angle": [0.987, 1.543, 0.639], "loss/depth": [0.4787, 0.7779, 0.615], "loss/score": [0.8368, 1.31, 0.639], "loss/width": [0.4744, 0.5737, 0.827]}, "rise": {"loss/objectness": -0.166, "loss/graspness": -0.149, "loss/view": 0.05, "loss/angle": 0.042, "loss/depth": 0.005, "loss/score": 0.042, "loss/width": -0.135}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.126, -2.071, -2.111, -2.093], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNeXt@pointnext-l.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnext-l -o encoder__EconomicGrasp__PointNeXt@pointnext-l.yaml", "config_hash": "edd9b04812e125e3", "run": "2026-10-15@1c8fd45", "seconds": 141.7},
  {"id": "encoder/EconomicGrasp/PointNeXt@pointnext-xl", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnext-xl", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.858x the reference (tolerance 1.25)", "loss/graspness 1.461x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.70x, loss/depth 0.68x, loss/score 0.71x"], "terms": {"loss/objectness": [0.2339, 0.1259, 1.858], "loss/graspness": [0.09262, 0.06338, 1.461], "loss/view": [0.8302, 0.8303, 1.0], "loss/angle": [1.084, 1.543, 0.702], "loss/depth": [0.5321, 0.7779, 0.684], "loss/score": [0.9238, 1.31, 0.705], "loss/width": [0.4593, 0.5737, 0.801]}, "rise": {"loss/objectness": -0.135, "loss/graspness": -0.124, "loss/view": 0.012, "loss/angle": -0.017, "loss/depth": -0.032, "loss/score": -0.006, "loss/width": -0.15}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.141, -1.778, -1.977, -0.7415], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNeXt@pointnext-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnext-xl -o encoder__EconomicGrasp__PointNeXt@pointnext-xl.yaml", "config_hash": "bf99a3a965b4af3e", "run": "2026-10-15@1c8fd45", "seconds": 205.9},
  {"id": "encoder/EconomicGrasp/PointNeXt@pointnext", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnext", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.659x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.65x, loss/depth 0.61x, loss/score 0.64x, loss/width 0.70x"], "terms": {"loss/objectness": [0.2089, 0.1259, 1.659], "loss/graspness": [0.07545, 0.06338, 1.191], "loss/view": [0.8857, 0.8303, 1.067], "loss/angle": [1.008, 1.543, 0.653], "loss/depth": [0.4737, 0.7779, 0.609], "loss/score": [0.836, 1.31, 0.638], "loss/width": [0.4016, 0.5737, 0.7]}, "rise": {"loss/objectness": -0.295, "loss/graspness": -0.237, "loss/view": 0.054, "loss/angle": 0.016, "loss/depth": -0.007, "loss/score": 0.025, "loss/width": -0.152}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.645, -1.219, -1.583, -0.9667], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNeXt@pointnext.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnext -o encoder__EconomicGrasp__PointNeXt@pointnext.yaml", "config_hash": "537d94b5b3954adb", "run": "2026-10-15@1c8fd45", "seconds": 119.5},
  {"id": "encoder/FineGrasp/PointNeXt@pointnext-b", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnext-b", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.545x the reference (tolerance 1.25)", "loss/graspness 1.468x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.77x"], "terms": {"loss/objectness": [0.1388, 0.08986, 1.545], "loss/graspness": [0.06931, 0.04722, 1.468], "loss/view": [0.8178, 0.7334, 1.115], "loss/angle": [0.7224, 0.9369, 0.771], "loss/depth": [0.3512, 0.4363, 0.805], "loss/score": [0.654, 0.8125, 0.805], "loss/width": [0.2825, 0.3151, 0.896]}, "rise": {"loss/objectness": -0.249, "loss/graspness": -0.298, "loss/view": -0.02, "loss/angle": -0.034, "loss/depth": -0.001, "loss/score": -0.006, "loss/width": -0.174}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.492, -2.978, -3.522, -3.144], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNeXt@pointnext-b.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnext-b -o encoder__FineGrasp__PointNeXt@pointnext-b.yaml", "config_hash": "f9f305efee026fd9", "run": "2026-10-16@1c8fd45", "seconds": 496.8},
  {"id": "encoder/FineGrasp/PointNeXt@pointnext-l", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnext-l", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.542x the reference (tolerance 1.25)", "loss/graspness 1.530x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.76x, loss/depth 0.80x, loss/score 0.79x"], "terms": {"loss/objectness": [0.1386, 0.08986, 1.542], "loss/graspness": [0.07226, 0.04722, 1.53], "loss/view": [0.803, 0.7334, 1.095], "loss/angle": [0.7138, 0.9369, 0.762], "loss/depth": [0.3477, 0.4363, 0.797], "loss/score": [0.6445, 0.8125, 0.793], "loss/width": [0.2836, 0.3151, 0.9]}, "rise": {"loss/objectness": -0.216, "loss/graspness": -0.285, "loss/view": -0.034, "loss/angle": -0.069, "loss/depth": -0.034, "loss/score": -0.04, "loss/width": -0.145}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.254, -3.682, -3.929, -4.214], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNeXt@pointnext-l.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnext-l -o encoder__FineGrasp__PointNeXt@pointnext-l.yaml", "config_hash": "dc62a4c1cc85093c", "run": "2026-10-16@1c8fd45", "seconds": 521.0},
  {"id": "encoder/FineGrasp/PointNeXt@pointnext-xl", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnext-xl", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.396x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.80x"], "terms": {"loss/objectness": [0.1254, 0.08986, 1.396], "loss/graspness": [0.05701, 0.04722, 1.207], "loss/view": [0.7629, 0.7334, 1.04], "loss/angle": [0.749, 0.9369, 0.799], "loss/depth": [0.361, 0.4363, 0.827], "loss/score": [0.6832, 0.8125, 0.841], "loss/width": [0.2638, 0.3151, 0.837]}, "rise": {"loss/objectness": -0.179, "loss/graspness": -0.25, "loss/view": -0.048, "loss/angle": -0.082, "loss/depth": -0.07, "loss/score": -0.056, "loss/width": -0.165}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.858, -3.364, -4.461, -3.776], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNeXt@pointnext-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnext-xl -o encoder__FineGrasp__PointNeXt@pointnext-xl.yaml", "config_hash": "d0239cb9e6bc4e30", "run": "2026-10-16@1c8fd45", "seconds": 653.2},
  {"id": "encoder/FineGrasp/PointNeXt@pointnext", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnext", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.505x the reference (tolerance 1.25)", "loss/graspness 1.288x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.75x, loss/depth 0.78x, loss/score 0.78x"], "terms": {"loss/objectness": [0.1352, 0.08986, 1.505], "loss/graspness": [0.06083, 0.04722, 1.288], "loss/view": [0.8259, 0.7334, 1.126], "loss/angle": [0.6992, 0.9369, 0.746], "loss/depth": [0.3404, 0.4363, 0.78], "loss/score": [0.6323, 0.8125, 0.778], "loss/width": [0.2827, 0.3151, 0.897]}, "rise": {"loss/objectness": -0.276, "loss/graspness": -0.267, "loss/view": -0.023, "loss/angle": -0.042, "loss/depth": -0.007, "loss/score": -0.009, "loss/width": -0.135}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.678, -3.318, -3.28, -3.452], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNeXt@pointnext.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnext -o encoder__FineGrasp__PointNeXt@pointnext.yaml", "config_hash": "f0755690ddbe7142", "run": "2026-10-16@1c8fd45", "seconds": 475.6},
  {"id": "encoder/GraspNet-baseline/PointNeXt@pointnext-b", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointnext-b", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.74x"], "terms": {"loss/objectness": [0.277, 0.3739, 0.741], "loss/view": [0.02909, 0.02976, 0.978], "loss/score": [0.01954, 0.02246, 0.87], "loss/angle": [0.3348, 0.3337, 1.003], "loss/width": [0.01245, 0.01289, 0.966], "loss/tolerance": [0.01651, 0.02008, 0.823]}, "rise": {"loss/objectness": -0.079, "loss/view": -0.028, "loss/score": -0.067, "loss/angle": -0.04, "loss/width": -0.09, "loss/tolerance": -0.356}, "grasps_per_frame": [343, 28, 260, 419], "no_gradient": [], "unchanged": [], "score_median": [0.212, 0.02024, 0.086, 0.1264], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointNeXt@pointnext-b.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointnext-b -o encoder__GraspNet-baseline__PointNeXt@pointnext-b.yaml", "config_hash": "a347e2c7d32da21a", "run": "2026-10-15@1c8fd45", "seconds": 94.9},
  {"id": "encoder/GraspNet-baseline/PointNeXt@pointnext-l", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointnext-l", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.63x"], "terms": {"loss/objectness": [0.3467, 0.3739, 0.927], "loss/view": [0.02881, 0.02976, 0.968], "loss/score": [0.021, 0.02246, 0.935], "loss/angle": [0.3276, 0.3337, 0.982], "loss/width": [0.01223, 0.01289, 0.949], "loss/tolerance": [0.0126, 0.02008, 0.627]}, "rise": {"loss/objectness": -0.04, "loss/view": -0.029, "loss/score": -0.053, "loss/angle": -0.043, "loss/width": -0.209, "loss/tolerance": -0.341}, "grasps_per_frame": [456, 485, 50, 486], "no_gradient": [], "unchanged": [], "score_median": [0.08779, 0.06744, -0.01582, 0.1047], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointNeXt@pointnext-l.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointnext-l -o encoder__GraspNet-baseline__PointNeXt@pointnext-l.yaml", "config_hash": "9d14d5ce0257aa73", "run": "2026-10-15@1c8fd45", "seconds": 101.1},
  {"id": "encoder/GraspNet-baseline/PointNeXt@pointnext-xl", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointnext-xl", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.78x"], "terms": {"loss/objectness": [0.3016, 0.3739, 0.807], "loss/view": [0.02846, 0.02976, 0.956], "loss/score": [0.02041, 0.02246, 0.909], "loss/angle": [0.3399, 0.3337, 1.019], "loss/width": [0.01356, 0.01289, 1.052], "loss/tolerance": [0.01567, 0.02008, 0.781]}, "rise": {"loss/objectness": -0.042, "loss/view": -0.033, "loss/score": -0.088, "loss/angle": -0.039, "loss/width": -0.133, "loss/tolerance": -0.364}, "grasps_per_frame": [448, 364, 516, 234], "no_gradient": [], "unchanged": [], "score_median": [0.08291, 0.1131, 0.1198, 0.1827], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointNeXt@pointnext-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointnext-xl -o encoder__GraspNet-baseline__PointNeXt@pointnext-xl.yaml", "config_hash": "d0f2b7f47b6dc4e8", "run": "2026-10-15@1c8fd45", "seconds": 129.7},
  {"id": "encoder/GraspNet-baseline/PointNeXt@pointnext", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointnext", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.54x, loss/tolerance 0.74x"], "terms": {"loss/objectness": [0.2014, 0.3739, 0.539], "loss/view": [0.02587, 0.02976, 0.869], "loss/score": [0.02141, 0.02246, 0.953], "loss/angle": [0.3265, 0.3337, 0.979], "loss/width": [0.01351, 0.01289, 1.048], "loss/tolerance": [0.01491, 0.02008, 0.743]}, "rise": {"loss/objectness": -0.13, "loss/view": -0.033, "loss/score": -0.075, "loss/angle": -0.04, "loss/width": -0.131, "loss/tolerance": -0.305}, "grasps_per_frame": [535, 468, 534, 558], "no_gradient": [], "unchanged": [], "score_median": [0.1578, 0.1357, 0.132, 0.1484], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointNeXt@pointnext.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointnext -o encoder__GraspNet-baseline__PointNeXt@pointnext.yaml", "config_hash": "5efd48174515584c", "run": "2026-10-15@1c8fd45", "seconds": 89.3},
  {"id": "encoder/Scale-Balanced-Grasp/PointNeXt@pointnext-b", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointnext-b", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1724, 0.1975, 0.873], "loss/view": [0.08527, 0.08244, 1.034], "loss/score": [0.01209, 0.01418, 0.853], "loss/angle": [0.2964, 0.3132, 0.946], "loss/width": [0.01009, 0.01146, 0.881], "loss/tolerance": [0.008063, 0.007067, 1.141]}, "rise": {"loss/objectness": -0.07, "loss/view": -0.016, "loss/score": -0.075, "loss/angle": -0.074, "loss/width": -0.029, "loss/tolerance": -0.241}, "grasps_per_frame": [83, 112, 50, 124], "no_gradient": [], "unchanged": [], "score_median": [0.02168, 0.07018, 0.002094, 0.06315], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointNeXt@pointnext-b.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointnext-b -o encoder__Scale-Balanced-Grasp__PointNeXt@pointnext-b.yaml", "config_hash": "2295a72ff0fa7f60", "run": "2026-10-15@1c8fd45", "seconds": 123.8},
  {"id": "encoder/Scale-Balanced-Grasp/PointNeXt@pointnext-l", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointnext-l", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/tolerance 1.323x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2119, 0.1975, 1.073], "loss/view": [0.08762, 0.08244, 1.063], "loss/score": [0.01297, 0.01418, 0.915], "loss/angle": [0.3105, 0.3132, 0.991], "loss/width": [0.01259, 0.01146, 1.099], "loss/tolerance": [0.009348, 0.007067, 1.323]}, "rise": {"loss/objectness": -0.081, "loss/view": -0.012, "loss/score": -0.038, "loss/angle": -0.067, "loss/width": 0.033, "loss/tolerance": -0.261}, "grasps_per_frame": [0, 126, 55, 0], "no_gradient": [], "unchanged": [], "score_median": [null, 0.02221, 0.03604, null], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointNeXt@pointnext-l.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointnext-l -o encoder__Scale-Balanced-Grasp__PointNeXt@pointnext-l.yaml", "config_hash": "799b5faabcbc5d59", "run": "2026-10-15@1c8fd45", "seconds": 132.5},
  {"id": "encoder/Scale-Balanced-Grasp/PointNeXt@pointnext-xl", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointnext-xl", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1883, 0.1975, 0.954], "loss/view": [0.08383, 0.08244, 1.017], "loss/score": [0.01273, 0.01418, 0.897], "loss/angle": [0.2913, 0.3132, 0.93], "loss/width": [0.0114, 0.01146, 0.995], "loss/tolerance": [0.007164, 0.007067, 1.014]}, "rise": {"loss/objectness": -0.054, "loss/view": -0.02, "loss/score": -0.058, "loss/angle": -0.092, "loss/width": -0.103, "loss/tolerance": -0.224}, "grasps_per_frame": [160, 99, 101, 96], "no_gradient": [], "unchanged": [], "score_median": [0.04944, 0.06171, 0.0649, 0.08485], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointNeXt@pointnext-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointnext-xl -o encoder__Scale-Balanced-Grasp__PointNeXt@pointnext-xl.yaml", "config_hash": "ba08009cd3e41d6e", "run": "2026-10-15@1c8fd45", "seconds": 158.4},
  {"id": "encoder/Scale-Balanced-Grasp/PointNeXt@pointnext", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointnext", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.73x"], "terms": {"loss/objectness": [0.1446, 0.1975, 0.732], "loss/view": [0.08115, 0.08244, 0.984], "loss/score": [0.01287, 0.01418, 0.908], "loss/angle": [0.2948, 0.3132, 0.941], "loss/width": [0.01031, 0.01146, 0.9], "loss/tolerance": [0.007395, 0.007067, 1.047]}, "rise": {"loss/objectness": -0.105, "loss/view": -0.035, "loss/score": -0.028, "loss/angle": -0.095, "loss/width": -0.023, "loss/tolerance": -0.243}, "grasps_per_frame": [128, 114, 153, 91], "no_gradient": [], "unchanged": [], "score_median": [0.02965, 0.02807, 0.02031, 0.05355], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointNeXt@pointnext.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointnext -o encoder__Scale-Balanced-Grasp__PointNeXt@pointnext.yaml", "config_hash": "28ff37687693b487", "run": "2026-10-15@1c8fd45", "seconds": 119.0},
  {"id": "encoder/GSNet/PointNet2", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnet2", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.923x the reference (tolerance 1.25)", "loss/graspness 1.768x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.74x, loss/score 0.72x"], "terms": {"loss/objectness": [0.3004, 0.1562, 1.923], "loss/graspness": [0.1343, 0.07598, 1.768], "loss/view": [0.6299, 0.8476, 0.743], "loss/score": [0.02269, 0.0313, 0.725], "loss/width": [0.1152, 0.101, 1.14]}, "rise": {"loss/objectness": -0.157, "loss/graspness": -0.14, "loss/view": 0.156, "loss/score": 0.034, "loss/width": -0.105}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08762, 0.07632, 0.07934, 0.0622], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNet2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnet2 -o encoder__GSNet__PointNet2.yaml", "config_hash": "c5b4b20c28d3fca1", "run": "2026-10-15@1c8fd45", "seconds": 115.2},
  {"id": "encoder/EconomicGrasp/PointNet2", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnet2", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.845x the reference (tolerance 1.25)", "loss/graspness 2.337x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3581, 0.1259, 2.845], "loss/graspness": [0.1481, 0.06338, 2.337], "loss/view": [0.711, 0.8303, 0.856], "loss/angle": [1.239, 1.543, 0.803], "loss/depth": [0.712, 0.7779, 0.915], "loss/score": [1.102, 1.31, 0.841], "loss/width": [0.6631, 0.5737, 1.156]}, "rise": {"loss/objectness": -0.089, "loss/graspness": -0.05, "loss/view": 0.025, "loss/angle": -0.008, "loss/depth": -0.028, "loss/score": -0.001, "loss/width": -0.094}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.307, -2.343, -2.346, -2.201], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNet2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2 -o encoder__EconomicGrasp__PointNet2.yaml", "config_hash": "03313a272f78a261", "run": "2026-10-15@1c8fd45", "seconds": 121.0},
  {"id": "encoder/FineGrasp/PointNet2", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnet2", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.392x the reference (tolerance 1.25)", "loss/graspness 2.868x the reference (tolerance 1.25)", "loss/width 1.278x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2149, 0.08986, 2.392], "loss/graspness": [0.1354, 0.04722, 2.868], "loss/view": [0.74, 0.7334, 1.009], "loss/angle": [0.9814, 0.9369, 1.047], "loss/depth": [0.4831, 0.4363, 1.107], "loss/score": [0.8728, 0.8125, 1.074], "loss/width": [0.4028, 0.3151, 1.278]}, "rise": {"loss/objectness": -0.283, "loss/graspness": -0.211, "loss/view": 0.071, "loss/angle": -0.097, "loss/depth": -0.144, "loss/score": -0.082, "loss/width": -0.217}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.253, -2.856, -3.171, -3.6], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNet2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2 -o encoder__FineGrasp__PointNet2.yaml", "config_hash": "1da07e2f2a15daba", "run": "2026-10-16@1c8fd45", "seconds": 488.3},
  {"id": "encoder/Scale-Balanced-Grasp/PointNet2", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointnet2", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/tolerance 1.460x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.239, 0.1975, 1.21], "loss/view": [0.08439, 0.08244, 1.024], "loss/score": [0.01344, 0.01418, 0.947], "loss/angle": [0.2956, 0.3132, 0.944], "loss/width": [0.01122, 0.01146, 0.98], "loss/tolerance": [0.01032, 0.007067, 1.46]}, "rise": {"loss/objectness": -0.074, "loss/view": -0.009, "loss/score": -0.042, "loss/angle": -0.083, "loss/width": -0.103, "loss/tolerance": -0.345}, "grasps_per_frame": [34, 52, 32, 64], "no_gradient": [], "unchanged": [], "score_median": [0.04282, -0.03367, 0.04913, 0.09665], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointNet2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointnet2 -o encoder__Scale-Balanced-Grasp__PointNet2.yaml", "config_hash": "7cd1649889c1629f", "run": "2026-10-15@1c8fd45", "seconds": 109.4},
  {"id": "encoder/GSNet/PointNet2Dense", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnet2-dense", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.678x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2621, 0.1562, 1.678], "loss/graspness": [0.08432, 0.07598, 1.11], "loss/view": [0.7409, 0.8476, 0.874], "loss/score": [0.02642, 0.0313, 0.844], "loss/width": [0.09804, 0.101, 0.97]}, "rise": {"loss/objectness": -0.173, "loss/graspness": -0.193, "loss/view": 0.068, "loss/score": 0.052, "loss/width": -0.086}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05354, 0.05062, 0.06615, 0.06725], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNet2Dense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnet2-dense -o encoder__GSNet__PointNet2Dense.yaml", "config_hash": "e949d60658a06e39", "run": "2026-10-15@1c8fd45", "seconds": 108.6},
  {"id": "encoder/EconomicGrasp/PointNet2Dense", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnet2-dense", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.268x the reference (tolerance 1.25)", "loss/graspness 1.717x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2854, 0.1259, 2.268], "loss/graspness": [0.1088, 0.06338, 1.717], "loss/view": [0.8086, 0.8303, 0.974], "loss/angle": [1.343, 1.543, 0.87], "loss/depth": [0.6604, 0.7779, 0.849], "loss/score": [1.152, 1.31, 0.88], "loss/width": [0.5521, 0.5737, 0.962]}, "rise": {"loss/objectness": -0.179, "loss/graspness": -0.135, "loss/view": 0.025, "loss/angle": 0.035, "loss/depth": 0.028, "loss/score": 0.034, "loss/width": -0.137}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.613, -1.098, -1.277, -0.3766], "checked": [17, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNet2Dense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2-dense -o encoder__EconomicGrasp__PointNet2Dense.yaml", "config_hash": "da507266909cfa16", "run": "2026-10-15@1c8fd45", "seconds": 114.6},
  {"id": "encoder/FineGrasp/PointNet2Dense", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnet2-dense", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.198x the reference (tolerance 1.25)", "loss/graspness 2.342x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1976, 0.08986, 2.198], "loss/graspness": [0.1106, 0.04722, 2.342], "loss/view": [0.7611, 0.7334, 1.038], "loss/angle": [0.8209, 0.9369, 0.876], "loss/depth": [0.3951, 0.4363, 0.906], "loss/score": [0.734, 0.8125, 0.903], "loss/width": [0.3352, 0.3151, 1.064]}, "rise": {"loss/objectness": -0.218, "loss/graspness": -0.268, "loss/view": 0.045, "loss/angle": -0.108, "loss/depth": -0.155, "loss/score": -0.092, "loss/width": -0.202}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.739, -3.161, -3.704, -3.512], "checked": [16, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNet2Dense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2-dense -o encoder__FineGrasp__PointNet2Dense.yaml", "config_hash": "43606f014151b13a", "run": "2026-10-16@1c8fd45", "seconds": 473.2},
  {"id": "encoder/GraspNet-baseline/PointNet2Dense", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointnet2-dense", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.73x"], "terms": {"loss/objectness": [0.3172, 0.3739, 0.848], "loss/view": [0.02916, 0.02976, 0.98], "loss/score": [0.01994, 0.02246, 0.888], "loss/angle": [0.3254, 0.3337, 0.975], "loss/width": [0.0129, 0.01289, 1.0], "loss/tolerance": [0.01458, 0.02008, 0.726]}, "rise": {"loss/objectness": -0.078, "loss/view": -0.043, "loss/score": -0.079, "loss/angle": -0.044, "loss/width": -0.148, "loss/tolerance": -0.371}, "grasps_per_frame": [532, 415, 468, 418], "no_gradient": [], "unchanged": [], "score_median": [0.1618, 0.1748, 0.1988, 0.05496], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointNet2Dense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointnet2-dense -o encoder__GraspNet-baseline__PointNet2Dense.yaml", "config_hash": "53cf678d2e74685f", "run": "2026-10-15@1c8fd45", "seconds": 84.1},
  {"id": "encoder/Scale-Balanced-Grasp/PointNet2Dense", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointnet2-dense", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.2018, 0.1975, 1.022], "loss/view": [0.08205, 0.08244, 0.995], "loss/score": [0.01291, 0.01418, 0.91], "loss/angle": [0.3034, 0.3132, 0.969], "loss/width": [0.01056, 0.01146, 0.922], "loss/tolerance": [0.006588, 0.007067, 0.932]}, "rise": {"loss/objectness": -0.089, "loss/view": -0.023, "loss/score": -0.06, "loss/angle": -0.081, "loss/width": 0.056, "loss/tolerance": -0.226}, "grasps_per_frame": [247, 99, 128, 64], "no_gradient": [], "unchanged": [], "score_median": [0.08168, 0.04577, 0.0842, 0.04849], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointNet2Dense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointnet2-dense -o encoder__Scale-Balanced-Grasp__PointNet2Dense.yaml", "config_hash": "2ffbab2b27e53653", "run": "2026-10-15@1c8fd45", "seconds": 112.4},
  {"id": "encoder/GSNet/PointNet2MSG", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnet2-msg", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.372x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2143, 0.1562, 1.372], "loss/graspness": [0.08303, 0.07598, 1.093], "loss/view": [0.7437, 0.8476, 0.877], "loss/score": [0.02693, 0.0313, 0.861], "loss/width": [0.1117, 0.101, 1.106]}, "rise": {"loss/objectness": -0.124, "loss/graspness": -0.182, "loss/view": 0.098, "loss/score": 0.079, "loss/width": -0.009}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06877, 0.06025, 0.07121, 0.05852], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNet2MSG.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnet2-msg -o encoder__GSNet__PointNet2MSG.yaml", "config_hash": "92116cccd7586de7", "run": "2026-10-15@1c8fd45", "seconds": 120.0},
  {"id": "encoder/EconomicGrasp/PointNet2MSG", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnet2-msg", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.063x the reference (tolerance 1.25)", "loss/graspness 1.648x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2597, 0.1259, 2.063], "loss/graspness": [0.1044, 0.06338, 1.648], "loss/view": [0.7689, 0.8303, 0.926], "loss/angle": [1.303, 1.543, 0.844], "loss/depth": [0.7174, 0.7779, 0.922], "loss/score": [1.134, 1.31, 0.866], "loss/width": [0.6255, 0.5737, 1.09]}, "rise": {"loss/objectness": -0.094, "loss/graspness": -0.137, "loss/view": 0.023, "loss/angle": -0.017, "loss/depth": -0.048, "loss/score": -0.027, "loss/width": -0.127}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.112, -2.076, -2.03, -2.167], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNet2MSG.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2-msg -o encoder__EconomicGrasp__PointNet2MSG.yaml", "config_hash": "5b5a19c252b6c6f7", "run": "2026-10-15@1c8fd45", "seconds": 127.1},
  {"id": "encoder/FineGrasp/PointNet2MSG", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnet2-msg", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.072x the reference (tolerance 1.25)", "loss/graspness 2.250x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1862, 0.08986, 2.072], "loss/graspness": [0.1062, 0.04722, 2.25], "loss/view": [0.7475, 0.7334, 1.019], "loss/angle": [0.9017, 0.9369, 0.962], "loss/depth": [0.4341, 0.4363, 0.995], "loss/score": [0.8013, 0.8125, 0.986], "loss/width": [0.3656, 0.3151, 1.16]}, "rise": {"loss/objectness": -0.2, "loss/graspness": -0.251, "loss/view": 0.027, "loss/angle": -0.096, "loss/depth": -0.134, "loss/score": -0.071, "loss/width": -0.182}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.657, -4.547, -4.534, -4.645], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNet2MSG.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2-msg -o encoder__FineGrasp__PointNet2MSG.yaml", "config_hash": "3060d96f0066e62e", "run": "2026-10-16@1c8fd45", "seconds": 502.3},
  {"id": "encoder/GraspNet-baseline/PointNet2MSG", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointnet2-msg", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.71x"], "terms": {"loss/objectness": [0.2658, 0.3739, 0.711], "loss/view": [0.02732, 0.02976, 0.918], "loss/score": [0.02051, 0.02246, 0.913], "loss/angle": [0.3278, 0.3337, 0.982], "loss/width": [0.01355, 0.01289, 1.051], "loss/tolerance": [0.01749, 0.02008, 0.871]}, "rise": {"loss/objectness": -0.093, "loss/view": -0.04, "loss/score": -0.044, "loss/angle": -0.042, "loss/width": -0.139, "loss/tolerance": -0.372}, "grasps_per_frame": [513, 440, 566, 534], "no_gradient": [], "unchanged": [], "score_median": [0.05327, 0.07268, 0.02687, 0.08525], "checked": [10, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointNet2MSG.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointnet2-msg -o encoder__GraspNet-baseline__PointNet2MSG.yaml", "config_hash": "341a5d35eaa92cb1", "run": "2026-10-15@1c8fd45", "seconds": 83.4},
  {"id": "encoder/Scale-Balanced-Grasp/PointNet2MSG", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointnet2-msg", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1831, 0.1975, 0.927], "loss/view": [0.0818, 0.08244, 0.992], "loss/score": [0.01349, 0.01418, 0.951], "loss/angle": [0.3113, 0.3132, 0.994], "loss/width": [0.009399, 0.01146, 0.821], "loss/tolerance": [0.007797, 0.007067, 1.103]}, "rise": {"loss/objectness": -0.081, "loss/view": -0.018, "loss/score": -0.052, "loss/angle": -0.069, "loss/width": -0.217, "loss/tolerance": -0.252}, "grasps_per_frame": [124, 94, 41, 103], "no_gradient": [], "unchanged": [], "score_median": [0.05558, 0.0753, -0.01136, 0.05312], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointNet2MSG.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointnet2-msg -o encoder__Scale-Balanced-Grasp__PointNet2MSG.yaml", "config_hash": "d9166249c08ec217", "run": "2026-10-15@1c8fd45", "seconds": 112.6},
  {"id": "encoder/GSNet/PointNet2MSGDense", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnet2-msg-dense", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.68x"], "terms": {"loss/objectness": [0.1514, 0.1562, 0.97], "loss/graspness": [0.05178, 0.07598, 0.682], "loss/view": [0.767, 0.8476, 0.905], "loss/score": [0.03115, 0.0313, 0.995], "loss/width": [0.09028, 0.101, 0.893]}, "rise": {"loss/objectness": -0.171, "loss/graspness": -0.238, "loss/view": 0.055, "loss/score": 0.002, "loss/width": -0.086}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08058, 0.07172, 0.06662, 0.08241], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNet2MSGDense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnet2-msg-dense -o encoder__GSNet__PointNet2MSGDense.yaml", "config_hash": "52cab45869988fa5", "run": "2026-10-15@1c8fd45", "seconds": 115.5},
  {"id": "encoder/EconomicGrasp/PointNet2MSGDense", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnet2-msg-dense", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.405x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1769, 0.1259, 1.405], "loss/graspness": [0.06347, 0.06338, 1.001], "loss/view": [0.7558, 0.8303, 0.91], "loss/angle": [1.316, 1.543, 0.853], "loss/depth": [0.6546, 0.7779, 0.841], "loss/score": [1.147, 1.31, 0.876], "loss/width": [0.5337, 0.5737, 0.93]}, "rise": {"loss/objectness": -0.185, "loss/graspness": -0.241, "loss/view": 0.009, "loss/angle": 0.003, "loss/depth": -0.017, "loss/score": -0.002, "loss/width": -0.152}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.713, -0.8655, -1.527, -1.144], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNet2MSGDense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2-msg-dense -o encoder__EconomicGrasp__PointNet2MSGDense.yaml", "config_hash": "ea1817510ce28803", "run": "2026-10-15@1c8fd45", "seconds": 122.1},
  {"id": "encoder/FineGrasp/PointNet2MSGDense", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnet2-msg-dense", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.395x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1254, 0.08986, 1.395], "loss/graspness": [0.05483, 0.04722, 1.161], "loss/view": [0.6962, 0.7334, 0.949], "loss/angle": [0.8224, 0.9369, 0.878], "loss/depth": [0.405, 0.4363, 0.928], "loss/score": [0.7325, 0.8125, 0.902], "loss/width": [0.3004, 0.3151, 0.953]}, "rise": {"loss/objectness": -0.189, "loss/graspness": -0.269, "loss/view": -0.049, "loss/angle": -0.172, "loss/depth": -0.114, "loss/score": -0.124, "loss/width": -0.203}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.071, -2.83, -3.391, -3.937], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNet2MSGDense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2-msg-dense -o encoder__FineGrasp__PointNet2MSGDense.yaml", "config_hash": "7f9a7f9023786e86", "run": "2026-10-16@1c8fd45", "seconds": 491.7},
  {"id": "encoder/GraspNet-baseline/PointNet2MSGDense", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointnet2-msg-dense", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.48x"], "terms": {"loss/objectness": [0.1812, 0.3739, 0.485], "loss/view": [0.02492, 0.02976, 0.837], "loss/score": [0.02213, 0.02246, 0.985], "loss/angle": [0.3221, 0.3337, 0.965], "loss/width": [0.0143, 0.01289, 1.11], "loss/tolerance": [0.01782, 0.02008, 0.887]}, "rise": {"loss/objectness": -0.113, "loss/view": -0.037, "loss/score": -0.043, "loss/angle": -0.043, "loss/width": -0.112, "loss/tolerance": -0.309}, "grasps_per_frame": [532, 472, 532, 511], "no_gradient": [], "unchanged": [], "score_median": [0.1086, 0.08844, 0.08376, 0.04207], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointNet2MSGDense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointnet2-msg-dense -o encoder__GraspNet-baseline__PointNet2MSGDense.yaml", "config_hash": "dca7ca6522d325d4", "run": "2026-10-15@1c8fd45", "seconds": 89.5},
  {"id": "encoder/Scale-Balanced-Grasp/PointNet2MSGDense", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointnet2-msg-dense", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.75x"], "terms": {"loss/objectness": [0.1479, 0.1975, 0.749], "loss/view": [0.07642, 0.08244, 0.927], "loss/score": [0.01378, 0.01418, 0.972], "loss/angle": [0.2988, 0.3132, 0.954], "loss/width": [0.01315, 0.01146, 1.148], "loss/tolerance": [0.007816, 0.007067, 1.106]}, "rise": {"loss/objectness": -0.107, "loss/view": -0.031, "loss/score": -0.032, "loss/angle": -0.095, "loss/width": 0.198, "loss/tolerance": -0.341}, "grasps_per_frame": [137, 135, 89, 96], "no_gradient": [], "unchanged": [], "score_median": [0.07174, 0.07549, 0.09627, 0.08191], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointNet2MSGDense.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointnet2-msg-dense -o encoder__Scale-Balanced-Grasp__PointNet2MSGDense.yaml", "config_hash": "4b5c72e4f74e58d3", "run": "2026-10-15@1c8fd45", "seconds": 117.2},
  {"id": "encoder/GSNet/PointNet2Transformer", "kind": "encoder", "method": "GSNet", "option": "backbone=pointnet2-transformer", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.330x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2077, 0.1562, 1.33], "loss/graspness": [0.09348, 0.07598, 1.23], "loss/view": [0.7408, 0.8476, 0.874], "loss/score": [0.02581, 0.0313, 0.825], "loss/width": [0.1006, 0.101, 0.996]}, "rise": {"loss/objectness": -0.209, "loss/graspness": -0.206, "loss/view": 0.091, "loss/score": 0.072, "loss/width": -0.091}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08046, 0.08703, 0.0919, 0.07749], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointNet2Transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointnet2-transformer -o encoder__GSNet__PointNet2Transformer.yaml", "config_hash": "85cb37c7d208faf1", "run": "2026-10-15@1c8fd45", "seconds": 117.5},
  {"id": "encoder/EconomicGrasp/PointNet2Transformer", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointnet2-transformer", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.177x the reference (tolerance 1.25)", "loss/graspness 1.840x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.77x, loss/score 0.80x"], "terms": {"loss/objectness": [0.274, 0.1259, 2.177], "loss/graspness": [0.1166, 0.06338, 1.84], "loss/view": [0.7496, 0.8303, 0.903], "loss/angle": [1.189, 1.543, 0.77], "loss/depth": [0.6439, 0.7779, 0.828], "loss/score": [1.046, 1.31, 0.798], "loss/width": [0.6348, 0.5737, 1.106]}, "rise": {"loss/objectness": -0.162, "loss/graspness": -0.171, "loss/view": 0.028, "loss/angle": 0.015, "loss/depth": -0.045, "loss/score": 0.008, "loss/width": -0.124}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.164, -2.21, -1.97, -1.505], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointNet2Transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2-transformer -o encoder__EconomicGrasp__PointNet2Transformer.yaml", "config_hash": "b007e422786febc8", "run": "2026-10-15@1c8fd45", "seconds": 124.0},
  {"id": "encoder/FineGrasp/PointNet2Transformer", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointnet2-transformer", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.129x the reference (tolerance 1.25)", "loss/graspness 2.144x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1913, 0.08986, 2.129], "loss/graspness": [0.1012, 0.04722, 2.144], "loss/view": [0.7492, 0.7334, 1.022], "loss/angle": [0.9543, 0.9369, 1.019], "loss/depth": [0.4577, 0.4363, 1.049], "loss/score": [0.8443, 0.8125, 1.039], "loss/width": [0.3682, 0.3151, 1.169]}, "rise": {"loss/objectness": -0.267, "loss/graspness": -0.322, "loss/view": 0.035, "loss/angle": -0.091, "loss/depth": -0.145, "loss/score": -0.072, "loss/width": -0.23}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.733, -2.712, -3.198, -3.215], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointNet2Transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointnet2-transformer -o encoder__FineGrasp__PointNet2Transformer.yaml", "config_hash": "f89b759ed883a507", "run": "2026-10-16@1c8fd45", "seconds": 493.8},
  {"id": "encoder/GraspNet-baseline/PointNet2Transformer", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointnet2-transformer", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.77x"], "terms": {"loss/objectness": [0.2861, 0.3739, 0.765], "loss/view": [0.0297, 0.02976, 0.998], "loss/score": [0.02204, 0.02246, 0.981], "loss/angle": [0.3196, 0.3337, 0.958], "loss/width": [0.01159, 0.01289, 0.899], "loss/tolerance": [0.01666, 0.02008, 0.83]}, "rise": {"loss/objectness": -0.123, "loss/view": -0.066, "loss/score": -0.038, "loss/angle": -0.061, "loss/width": -0.251, "loss/tolerance": -0.304}, "grasps_per_frame": [572, 445, 554, 504], "no_gradient": [], "unchanged": [], "score_median": [0.1857, 0.1006, 0.1317, 0.1126], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointNet2Transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointnet2-transformer -o encoder__GraspNet-baseline__PointNet2Transformer.yaml", "config_hash": "eb56806c06a30d7e", "run": "2026-10-15@1c8fd45", "seconds": 82.2},
  {"id": "encoder/GSNet/PointTransformerV1", "kind": "encoder", "method": "GSNet", "option": "backbone=point-transformer-v1", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "notes": ["lower than the reference: loss/objectness 0.80x, loss/graspness 0.60x"], "terms": {"loss/objectness": [0.1242, 0.1562, 0.795], "loss/graspness": [0.04583, 0.07598, 0.603], "loss/view": [0.8585, 0.8476, 1.013], "loss/score": [0.03722, 0.0313, 1.189], "loss/width": [0.0929, 0.101, 0.919]}, "rise": {"loss/objectness": -0.116, "loss/graspness": -0.167, "loss/view": 0.01, "loss/score": -0.01, "loss/width": -0.05}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointTransformerV1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=point-transformer-v1 -o encoder__GSNet__PointTransformerV1.yaml", "config_hash": "b25a6ec8d33a3d7a", "run": "2026-10-15@1c8fd45", "seconds": 146.7},
  {"id": "encoder/EconomicGrasp/PointTransformerV1", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=point-transformer-v1", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "terms": {"loss/objectness": [0.1279, 0.1259, 1.016], "loss/graspness": [0.05726, 0.06338, 0.904], "loss/view": [0.8377, 0.8303, 1.009], "loss/angle": [1.402, 1.543, 0.908], "loss/depth": [0.7024, 0.7779, 0.903], "loss/score": [1.2, 1.31, 0.917], "loss/width": [0.5247, 0.5737, 0.914]}, "rise": {"loss/objectness": -0.148, "loss/graspness": -0.149, "loss/view": -0.004, "loss/angle": -0.05, "loss/depth": -0.085, "loss/score": -0.063, "loss/width": -0.142}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointTransformerV1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=point-transformer-v1 -o encoder__EconomicGrasp__PointTransformerV1.yaml", "config_hash": "60e43a7569bcd449", "run": "2026-10-15@1c8fd45", "seconds": 178.6},
  {"id": "encoder/FineGrasp/PointTransformerV1", "kind": "encoder", "method": "FineGrasp", "option": "backbone=point-transformer-v1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09297, 0.08986, 1.035], "loss/graspness": [0.04147, 0.04722, 0.878], "loss/view": [0.7204, 0.7334, 0.982], "loss/angle": [0.88, 0.9369, 0.939], "loss/depth": [0.4231, 0.4363, 0.97], "loss/score": [0.7819, 0.8125, 0.962], "loss/width": [0.2899, 0.3151, 0.92]}, "rise": {"loss/objectness": -0.12, "loss/graspness": -0.299, "loss/view": -0.038, "loss/angle": -0.15, "loss/depth": -0.117, "loss/score": -0.11, "loss/width": -0.209}, "grasps_per_frame": [0, 8, 1, 0], "no_gradient": [], "unchanged": [], "score_median": [null, -5.926, -5.186, null], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointTransformerV1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=point-transformer-v1 -o encoder__FineGrasp__PointTransformerV1.yaml", "config_hash": "260ab7bd70b5efa0", "run": "2026-10-16@1c8fd45", "seconds": 611.3},
  {"id": "encoder/GraspNet-baseline/PointTransformerV1", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=point-transformer-v1", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "notes": ["lower than the reference: loss/objectness 0.55x"], "terms": {"loss/objectness": [0.2067, 0.3739, 0.553], "loss/view": [0.02796, 0.02976, 0.94], "loss/score": [0.01998, 0.02246, 0.889], "loss/angle": [0.3372, 0.3337, 1.01], "loss/width": [0.01247, 0.01289, 0.967], "loss/tolerance": [0.01684, 0.02008, 0.839]}, "rise": {"loss/objectness": -0.102, "loss/view": -0.074, "loss/score": -0.083, "loss/angle": -0.047, "loss/width": -0.089, "loss/tolerance": -0.337}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointTransformerV1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=point-transformer-v1 -o encoder__GraspNet-baseline__PointTransformerV1.yaml", "config_hash": "8652827202817cbe", "run": "2026-10-15@1c8fd45", "seconds": 119.5},
  {"id": "encoder/Scale-Balanced-Grasp/PointTransformerV1", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=point-transformer-v1", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/tolerance 1.327x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.60x"], "terms": {"loss/objectness": [0.1176, 0.1975, 0.595], "loss/view": [0.08133, 0.08244, 0.987], "loss/score": [0.01358, 0.01418, 0.957], "loss/angle": [0.3007, 0.3132, 0.96], "loss/width": [0.01044, 0.01146, 0.911], "loss/tolerance": [0.009381, 0.007067, 1.327]}, "rise": {"loss/objectness": -0.112, "loss/view": -0.023, "loss/score": -0.058, "loss/angle": -0.08, "loss/width": -0.281, "loss/tolerance": -0.49}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointTransformerV1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=point-transformer-v1 -o encoder__Scale-Balanced-Grasp__PointTransformerV1.yaml", "config_hash": "b657ec1f23ee905f", "run": "2026-10-15@1c8fd45", "seconds": 147.5},
  {"id": "encoder/GSNet/PointTransformerV2", "kind": "encoder", "method": "GSNet", "option": "backbone=point-transformer-v2", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "notes": ["lower than the reference: loss/objectness 0.78x, loss/graspness 0.56x"], "terms": {"loss/objectness": [0.1212, 0.1562, 0.776], "loss/graspness": [0.04233, 0.07598, 0.557], "loss/view": [0.8186, 0.8476, 0.966], "loss/score": [0.03616, 0.0313, 1.155], "loss/width": [0.09087, 0.101, 0.899]}, "rise": {"loss/objectness": -0.064, "loss/graspness": -0.148, "loss/view": -0.004, "loss/score": 0.038, "loss/width": -0.025}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [10, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointTransformerV2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=point-transformer-v2 -o encoder__GSNet__PointTransformerV2.yaml", "config_hash": "679ea43bcf247098", "run": "2026-10-15@1c8fd45", "seconds": 145.5},
  {"id": "encoder/EconomicGrasp/PointTransformerV2", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=point-transformer-v2", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "terms": {"loss/objectness": [0.1342, 0.1259, 1.066], "loss/graspness": [0.05153, 0.06338, 0.813], "loss/view": [0.795, 0.8303, 0.958], "loss/angle": [1.402, 1.543, 0.909], "loss/depth": [0.7307, 0.7779, 0.939], "loss/score": [1.229, 1.31, 0.938], "loss/width": [0.5709, 0.5737, 0.995]}, "rise": {"loss/objectness": -0.118, "loss/graspness": -0.135, "loss/view": -0.016, "loss/angle": -0.017, "loss/depth": -0.027, "loss/score": -0.018, "loss/width": -0.119}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointTransformerV2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=point-transformer-v2 -o encoder__EconomicGrasp__PointTransformerV2.yaml", "config_hash": "db7fdd754bb27868", "run": "2026-10-15@1c8fd45", "seconds": 168.5},
  {"id": "encoder/FineGrasp/PointTransformerV2", "kind": "encoder", "method": "FineGrasp", "option": "backbone=point-transformer-v2", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09524, 0.08986, 1.06], "loss/graspness": [0.0433, 0.04722, 0.917], "loss/view": [0.6735, 0.7334, 0.918], "loss/angle": [0.8276, 0.9369, 0.883], "loss/depth": [0.4007, 0.4363, 0.918], "loss/score": [0.7282, 0.8125, 0.896], "loss/width": [0.2797, 0.3151, 0.888]}, "rise": {"loss/objectness": -0.116, "loss/graspness": -0.207, "loss/view": -0.05, "loss/angle": -0.145, "loss/depth": -0.095, "loss/score": -0.107, "loss/width": -0.191}, "grasps_per_frame": [24, 1, 54, 145], "no_gradient": [], "unchanged": [], "score_median": [-3.915, -3.819, -3.91, -3.665], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointTransformerV2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=point-transformer-v2 -o encoder__FineGrasp__PointTransformerV2.yaml", "config_hash": "ee3a8cf5f3c21c60", "run": "2026-10-16@1c8fd45", "seconds": 580.3},
  {"id": "encoder/GraspNet-baseline/PointTransformerV2", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=point-transformer-v2", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "notes": ["lower than the reference: loss/objectness 0.42x, loss/tolerance 0.64x"], "terms": {"loss/objectness": [0.1576, 0.3739, 0.421], "loss/view": [0.02698, 0.02976, 0.907], "loss/score": [0.02048, 0.02246, 0.912], "loss/angle": [0.3244, 0.3337, 0.972], "loss/width": [0.01297, 0.01289, 1.006], "loss/tolerance": [0.01293, 0.02008, 0.644]}, "rise": {"loss/objectness": -0.142, "loss/view": -0.066, "loss/score": -0.044, "loss/angle": -0.039, "loss/width": -0.149, "loss/tolerance": -0.293}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointTransformerV2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=point-transformer-v2 -o encoder__GraspNet-baseline__PointTransformerV2.yaml", "config_hash": "75ac0405e95f4bb5", "run": "2026-10-15@1c8fd45", "seconds": 112.0},
  {"id": "encoder/Scale-Balanced-Grasp/PointTransformerV2", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=point-transformer-v2", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "notes": ["lower than the reference: loss/objectness 0.59x, loss/tolerance 0.77x"], "terms": {"loss/objectness": [0.1168, 0.1975, 0.591], "loss/view": [0.08211, 0.08244, 0.996], "loss/score": [0.01295, 0.01418, 0.913], "loss/angle": [0.2991, 0.3132, 0.955], "loss/width": [0.009466, 0.01146, 0.826], "loss/tolerance": [0.00544, 0.007067, 0.77]}, "rise": {"loss/objectness": -0.084, "loss/view": -0.015, "loss/score": -0.047, "loss/angle": -0.071, "loss/width": -0.146, "loss/tolerance": -0.344}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointTransformerV2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=point-transformer-v2 -o encoder__Scale-Balanced-Grasp__PointTransformerV2.yaml", "config_hash": "c188af006433cbf6", "run": "2026-10-15@1c8fd45", "seconds": 140.6},
  {"id": "encoder/GSNet/PointVector@pointvector-xl", "kind": "encoder", "method": "GSNet", "option": "backbone=pointvector-xl", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1804, 0.1562, 1.155], "loss/graspness": [0.06469, 0.07598, 0.851], "loss/view": [0.8353, 0.8476, 0.985], "loss/score": [0.02871, 0.0313, 0.917], "loss/width": [0.08542, 0.101, 0.845]}, "rise": {"loss/objectness": -0.07, "loss/graspness": -0.156, "loss/view": -0.01, "loss/score": 0.021, "loss/width": -0.061}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07148, 0.07277, 0.07184, 0.07281], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointVector@pointvector-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointvector-xl -o encoder__GSNet__PointVector@pointvector-xl.yaml", "config_hash": "5e47408fb138b927", "run": "2026-10-15@1c8fd45", "seconds": 200.5},
  {"id": "encoder/GSNet/PointVector@pointvector", "kind": "encoder", "method": "GSNet", "option": "backbone=pointvector", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.642x the reference (tolerance 1.25)", "loss/graspness 1.712x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.67x"], "terms": {"loss/objectness": [0.2565, 0.1562, 1.642], "loss/graspness": [0.1301, 0.07598, 1.712], "loss/view": [0.7433, 0.8476, 0.877], "loss/score": [0.02088, 0.0313, 0.667], "loss/width": [0.1018, 0.101, 1.008]}, "rise": {"loss/objectness": -0.151, "loss/graspness": -0.15, "loss/view": 0.085, "loss/score": -0.037, "loss/width": -0.081}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07128, 0.07119, 0.06557, 0.06873], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointVector@pointvector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pointvector -o encoder__GSNet__PointVector@pointvector.yaml", "config_hash": "f37a18f1720a6a6b", "run": "2026-10-15@1c8fd45", "seconds": 127.4},
  {"id": "encoder/EconomicGrasp/PointVector@pointvector-xl", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointvector-xl", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.538x the reference (tolerance 1.25)", "loss/graspness 1.364x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.69x, loss/depth 0.69x, loss/score 0.70x, loss/width 0.74x"], "terms": {"loss/objectness": [0.1937, 0.1259, 1.538], "loss/graspness": [0.08644, 0.06338, 1.364], "loss/view": [0.8762, 0.8303, 1.055], "loss/angle": [1.063, 1.543, 0.689], "loss/depth": [0.5362, 0.7779, 0.689], "loss/score": [0.9164, 1.31, 0.7], "loss/width": [0.4228, 0.5737, 0.737]}, "rise": {"loss/objectness": -0.145, "loss/graspness": -0.22, "loss/view": 0.025, "loss/angle": -0.035, "loss/depth": -0.049, "loss/score": -0.025, "loss/width": -0.131}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.083, -1.461, -1.492, -0.9142], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointVector@pointvector-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointvector-xl -o encoder__EconomicGrasp__PointVector@pointvector-xl.yaml", "config_hash": "20ce5ac9f2ae2f2d", "run": "2026-10-15@1c8fd45", "seconds": 239.4},
  {"id": "encoder/EconomicGrasp/PointVector@pointvector", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pointvector", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.428x the reference (tolerance 1.25)", "loss/graspness 2.573x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.70x, loss/depth 0.74x, loss/score 0.69x"], "terms": {"loss/objectness": [0.3057, 0.1259, 2.428], "loss/graspness": [0.163, 0.06338, 2.573], "loss/view": [0.8073, 0.8303, 0.972], "loss/angle": [1.074, 1.543, 0.696], "loss/depth": [0.5719, 0.7779, 0.735], "loss/score": [0.902, 1.31, 0.689], "loss/width": [0.5662, 0.5737, 0.987]}, "rise": {"loss/objectness": -0.16, "loss/graspness": -0.101, "loss/view": -0.013, "loss/angle": -0.005, "loss/depth": -0.057, "loss/score": -0.013, "loss/width": -0.163}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.241, -0.6684, -0.6447, -0.3127], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointVector@pointvector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pointvector -o encoder__EconomicGrasp__PointVector@pointvector.yaml", "config_hash": "9397b1ce16aa4fcf", "run": "2026-10-15@1c8fd45", "seconds": 158.3},
  {"id": "encoder/FineGrasp/PointVector@pointvector-xl", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointvector-xl", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.423x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.78x"], "terms": {"loss/objectness": [0.1278, 0.08986, 1.423], "loss/graspness": [0.05593, 0.04722, 1.184], "loss/view": [0.7568, 0.7334, 1.032], "loss/angle": [0.7318, 0.9369, 0.781], "loss/depth": [0.3578, 0.4363, 0.82], "loss/score": [0.6726, 0.8125, 0.828], "loss/width": [0.2689, 0.3151, 0.853]}, "rise": {"loss/objectness": -0.131, "loss/graspness": -0.223, "loss/view": -0.052, "loss/angle": -0.066, "loss/depth": -0.047, "loss/score": -0.041, "loss/width": -0.128}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.17, -2.704, -2.403, -3.054], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointVector@pointvector-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointvector-xl -o encoder__FineGrasp__PointVector@pointvector-xl.yaml", "config_hash": "b42794486a7c1287", "run": "2026-10-16@1c8fd45", "seconds": 661.8},
  {"id": "encoder/FineGrasp/PointVector@pointvector", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pointvector", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.562x the reference (tolerance 1.25)", "loss/graspness 1.479x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.76x, loss/depth 0.78x, loss/score 0.79x"], "terms": {"loss/objectness": [0.1404, 0.08986, 1.562], "loss/graspness": [0.06983, 0.04722, 1.479], "loss/view": [0.813, 0.7334, 1.109], "loss/angle": [0.7104, 0.9369, 0.758], "loss/depth": [0.3398, 0.4363, 0.779], "loss/score": [0.6397, 0.8125, 0.787], "loss/width": [0.2855, 0.3151, 0.906]}, "rise": {"loss/objectness": -0.16, "loss/graspness": -0.309, "loss/view": -0.044, "loss/angle": -0.047, "loss/depth": -0.034, "loss/score": -0.028, "loss/width": -0.141}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-5.923, -5.806, -5.16, -4.803], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointVector@pointvector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pointvector -o encoder__FineGrasp__PointVector@pointvector.yaml", "config_hash": "541b332b99e5e28f", "run": "2026-10-16@1c8fd45", "seconds": 538.5},
  {"id": "encoder/GraspNet-baseline/PointVector@pointvector-xl", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointvector-xl", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.69x, loss/tolerance 0.72x"], "terms": {"loss/objectness": [0.2579, 0.3739, 0.69], "loss/view": [0.02751, 0.02976, 0.924], "loss/score": [0.02039, 0.02246, 0.907], "loss/angle": [0.3269, 0.3337, 0.98], "loss/width": [0.01342, 0.01289, 1.041], "loss/tolerance": [0.01439, 0.02008, 0.717]}, "rise": {"loss/objectness": -0.054, "loss/view": -0.025, "loss/score": -0.079, "loss/angle": -0.042, "loss/width": -0.137, "loss/tolerance": -0.312}, "grasps_per_frame": [532, 452, 534, 540], "no_gradient": [], "unchanged": [], "score_median": [0.1181, 0.1008, 0.09441, 0.1005], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointVector@pointvector-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointvector-xl -o encoder__GraspNet-baseline__PointVector@pointvector-xl.yaml", "config_hash": "78421dd219a5c74c", "run": "2026-10-15@1c8fd45", "seconds": 188.5},
  {"id": "encoder/GraspNet-baseline/PointVector@pointvector", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pointvector", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.66x"], "terms": {"loss/objectness": [0.248, 0.3739, 0.663], "loss/view": [0.02818, 0.02976, 0.947], "loss/score": [0.02011, 0.02246, 0.895], "loss/angle": [0.3179, 0.3337, 0.953], "loss/width": [0.01427, 0.01289, 1.107], "loss/tolerance": [0.01659, 0.02008, 0.826]}, "rise": {"loss/objectness": -0.079, "loss/view": -0.032, "loss/score": -0.072, "loss/angle": -0.042, "loss/width": -0.228, "loss/tolerance": -0.378}, "grasps_per_frame": [528, 431, 545, 513], "no_gradient": [], "unchanged": [], "score_median": [0.1031, 0.08805, 0.09721, 0.08881], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointVector@pointvector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pointvector -o encoder__GraspNet-baseline__PointVector@pointvector.yaml", "config_hash": "09adccfa8915b1f4", "run": "2026-10-15@1c8fd45", "seconds": 106.7},
  {"id": "encoder/Scale-Balanced-Grasp/PointVector@pointvector-xl", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointvector-xl", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.70x"], "terms": {"loss/objectness": [0.1623, 0.1975, 0.822], "loss/view": [0.08314, 0.08244, 1.008], "loss/score": [0.01326, 0.01418, 0.935], "loss/angle": [0.3008, 0.3132, 0.96], "loss/width": [0.009881, 0.01146, 0.863], "loss/tolerance": [0.004929, 0.007067, 0.698]}, "rise": {"loss/objectness": -0.064, "loss/view": -0.018, "loss/score": -0.039, "loss/angle": -0.083, "loss/width": -0.063, "loss/tolerance": -0.274}, "grasps_per_frame": [95, 114, 111, 106], "no_gradient": [], "unchanged": [], "score_median": [0.03402, 0.03272, 0.03804, 0.05885], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointVector@pointvector-xl.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointvector-xl -o encoder__Scale-Balanced-Grasp__PointVector@pointvector-xl.yaml", "config_hash": "9272627169126811", "run": "2026-10-15@1c8fd45", "seconds": 211.1},
  {"id": "encoder/Scale-Balanced-Grasp/PointVector@pointvector", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pointvector", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1743, 0.1975, 0.883], "loss/view": [0.08726, 0.08244, 1.059], "loss/score": [0.01296, 0.01418, 0.914], "loss/angle": [0.309, 0.3132, 0.987], "loss/width": [0.01111, 0.01146, 0.97], "loss/tolerance": [0.00736, 0.007067, 1.041]}, "rise": {"loss/objectness": -0.083, "loss/view": -0.001, "loss/score": -0.054, "loss/angle": -0.064, "loss/width": -0.034, "loss/tolerance": -0.28}, "grasps_per_frame": [122, 95, 127, 108], "no_gradient": [], "unchanged": [], "score_median": [-0.004744, 0.03577, -0.0008747, 0.006987], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointVector@pointvector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pointvector -o encoder__Scale-Balanced-Grasp__PointVector@pointvector.yaml", "config_hash": "5dbab793b7733748", "run": "2026-10-15@1c8fd45", "seconds": 135.7},
  {"id": "encoder/GSNet/PointViT", "kind": "encoder", "method": "GSNet", "option": "backbone=point-vit", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.787x the reference (tolerance 1.25)", "loss/graspness 1.839x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.76x, loss/score 0.65x"], "terms": {"loss/objectness": [0.2791, 0.1562, 1.787], "loss/graspness": [0.1397, 0.07598, 1.839], "loss/view": [0.6402, 0.8476, 0.755], "loss/score": [0.0203, 0.0313, 0.649], "loss/width": [0.1012, 0.101, 1.001]}, "rise": {"loss/objectness": -0.175, "loss/graspness": -0.142, "loss/view": 0.025, "loss/score": 0.083, "loss/width": -0.063}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05344, 0.0588, 0.05518, 0.05475], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PointViT.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=point-vit -o encoder__GSNet__PointViT.yaml", "config_hash": "b8fc3dbba767211d", "run": "2026-10-15@1c8fd45", "seconds": 136.9},
  {"id": "encoder/EconomicGrasp/PointViT", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=point-vit", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.648x the reference (tolerance 1.25)", "loss/graspness 2.736x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.77x, loss/depth 0.79x, loss/score 0.78x"], "terms": {"loss/objectness": [0.3333, 0.1259, 2.648], "loss/graspness": [0.1734, 0.06338, 2.736], "loss/view": [0.7712, 0.8303, 0.929], "loss/angle": [1.185, 1.543, 0.768], "loss/depth": [0.6172, 0.7779, 0.793], "loss/score": [1.018, 1.31, 0.777], "loss/width": [0.6371, 0.5737, 1.11]}, "rise": {"loss/objectness": -0.088, "loss/graspness": -0.079, "loss/view": -0.007, "loss/angle": -0.007, "loss/depth": -0.054, "loss/score": 0.008, "loss/width": -0.093}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.9023, -0.8032, -0.8199, -0.8317], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PointViT.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=point-vit -o encoder__EconomicGrasp__PointViT.yaml", "config_hash": "33f5244490d3af60", "run": "2026-10-15@1c8fd45", "seconds": 145.9},
  {"id": "encoder/FineGrasp/PointViT", "kind": "encoder", "method": "FineGrasp", "option": "backbone=point-vit", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.708x the reference (tolerance 1.25)", "loss/graspness 2.260x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1535, 0.08986, 1.708], "loss/graspness": [0.1067, 0.04722, 2.26], "loss/view": [0.7657, 0.7334, 1.044], "loss/angle": [0.8188, 0.9369, 0.874], "loss/depth": [0.3924, 0.4363, 0.899], "loss/score": [0.7293, 0.8125, 0.898], "loss/width": [0.3252, 0.3151, 1.032]}, "rise": {"loss/objectness": -0.181, "loss/graspness": -0.236, "loss/view": -0.005, "loss/angle": -0.102, "loss/depth": -0.09, "loss/score": -0.065, "loss/width": -0.145}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-5.053, -5.037, -5.053, -5.006], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PointViT.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=point-vit -o encoder__FineGrasp__PointViT.yaml", "config_hash": "3a4e0e22fa5bfbde", "run": "2026-10-16@1c8fd45", "seconds": 588.1},
  {"id": "encoder/GraspNet-baseline/PointViT", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=point-vit", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.321x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4939, 0.3739, 1.321], "loss/view": [0.03363, 0.02976, 1.13], "loss/score": [0.02118, 0.02246, 0.943], "loss/angle": [0.3404, 0.3337, 1.02], "loss/width": [0.01341, 0.01289, 1.041], "loss/tolerance": [0.02459, 0.02008, 1.225]}, "rise": {"loss/objectness": 0.034, "loss/view": -0.009, "loss/score": -0.012, "loss/angle": -0.039, "loss/width": -0.226, "loss/tolerance": -0.338}, "grasps_per_frame": [679, 670, 707, 637], "no_gradient": [], "unchanged": [], "score_median": [0.1147, 0.08623, 0.09369, 0.05685], "checked": [13, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PointViT.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=point-vit -o encoder__GraspNet-baseline__PointViT.yaml", "config_hash": "e5548fb177b67e78", "run": "2026-10-15@1c8fd45", "seconds": 93.2},
  {"id": "encoder/Scale-Balanced-Grasp/PointViT", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=point-vit", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.410x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2785, 0.1975, 1.41], "loss/view": [0.08661, 0.08244, 1.051], "loss/score": [0.01274, 0.01418, 0.898], "loss/angle": [0.3013, 0.3132, 0.962], "loss/width": [0.01087, 0.01146, 0.949], "loss/tolerance": [0.008507, 0.007067, 1.204]}, "rise": {"loss/objectness": 0.006, "loss/view": 0.0, "loss/score": -0.065, "loss/angle": -0.082, "loss/width": 0.171, "loss/tolerance": -0.272}, "grasps_per_frame": [126, 80, 123, 43], "no_gradient": [], "unchanged": [], "score_median": [0.03896, 0.03186, 0.02669, 0.002989], "checked": [15, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PointViT.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=point-vit -o encoder__Scale-Balanced-Grasp__PointViT.yaml", "config_hash": "796053e8b84a6c4d", "run": "2026-10-15@1c8fd45", "seconds": 121.2},
  {"id": "encoder/GSNet/PyGPointEncoder@pyg-edgeconv", "kind": "encoder", "method": "GSNet", "option": "backbone=pyg-edgeconv", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 3.331x the reference (tolerance 1.25)", "loss/graspness 2.857x the reference (tolerance 1.25)", "loss/width 1.324x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.62x, loss/score 0.48x"], "terms": {"loss/objectness": [0.5201, 0.1562, 3.331], "loss/graspness": [0.217, 0.07598, 2.857], "loss/view": [0.5222, 0.8476, 0.616], "loss/score": [0.01501, 0.0313, 0.48], "loss/width": [0.1338, 0.101, 1.324]}, "rise": {"loss/objectness": -0.038, "loss/graspness": -0.023, "loss/view": 0.084, "loss/score": -0.055, "loss/width": 0.027}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04814, 0.04481, 0.04746, 0.05041], "checked": [10, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PyGPointEncoder@pyg-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pyg-edgeconv -o encoder__GSNet__PyGPointEncoder@pyg-edgeconv.yaml", "config_hash": "132d178da3eebfbe", "run": "2026-10-15@1c8fd45", "seconds": 137.9},
  {"id": "encoder/GSNet/PyGPointEncoder@pyg-point-transformer", "kind": "encoder", "method": "GSNet", "option": "backbone=pyg-point-transformer", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 3.435x the reference (tolerance 1.25)", "loss/graspness 2.878x the reference (tolerance 1.25)", "loss/width 1.337x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.61x, loss/score 0.46x"], "terms": {"loss/objectness": [0.5365, 0.1562, 3.435], "loss/graspness": [0.2187, 0.07598, 2.878], "loss/view": [0.5149, 0.8476, 0.607], "loss/score": [0.01453, 0.0313, 0.464], "loss/width": [0.1351, 0.101, 1.337]}, "rise": {"loss/objectness": -0.029, "loss/graspness": 0.009, "loss/view": 0.005, "loss/score": -0.087, "loss/width": -0.0}, "grasps_per_frame": [1015, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0571, 0.0539, 0.05541, 0.05409], "checked": [10, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PyGPointEncoder@pyg-point-transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pyg-point-transformer -o encoder__GSNet__PyGPointEncoder@pyg-point-transformer.yaml", "config_hash": "bbb17af4e949d3d6", "run": "2026-10-15@1c8fd45", "seconds": 142.4},
  {"id": "encoder/GSNet/PyGPointEncoder@pyg-pointgnn", "kind": "encoder", "method": "GSNet", "option": "backbone=pyg-pointgnn", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.454x the reference (tolerance 1.25)", "loss/graspness 3.526x the reference (tolerance 1.25)", "loss/width 1.709x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.61x, loss/score 0.61x", "unstable: 1 of 250 iterations had no real seed (iteration 95)."], "terms": {"loss/objectness": [0.5394, 0.1562, 3.454], "loss/graspness": [0.2679, 0.07598, 3.526], "loss/view": [0.5164, 0.8476, 0.609], "loss/score": [0.01911, 0.0313, 0.611], "loss/width": [0.1726, 0.101, 1.709]}, "rise": {"loss/objectness": -0.033, "loss/graspness": 0.134, "loss/view": 0.103, "loss/score": 0.067, "loss/width": 0.074}, "grasps_per_frame": [86, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03713, 0.05968, 0.05745, 0.05059], "checked": [10, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PyGPointEncoder@pyg-pointgnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pyg-pointgnn -o encoder__GSNet__PyGPointEncoder@pyg-pointgnn.yaml", "config_hash": "5244677f219164d9", "run": "2026-10-15@1c8fd45", "seconds": 164.3},
  {"id": "encoder/GSNet/PyGPointEncoder@pyg-pointnet", "kind": "encoder", "method": "GSNet", "option": "backbone=pyg-pointnet", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 3.369x the reference (tolerance 1.25)", "loss/graspness 2.829x the reference (tolerance 1.25)", "loss/width 1.281x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.58x, loss/score 0.46x"], "terms": {"loss/objectness": [0.5261, 0.1562, 3.369], "loss/graspness": [0.2149, 0.07598, 2.829], "loss/view": [0.489, 0.8476, 0.577], "loss/score": [0.01445, 0.0313, 0.462], "loss/width": [0.1295, 0.101, 1.281]}, "rise": {"loss/objectness": -0.031, "loss/graspness": -0.005, "loss/view": 0.003, "loss/score": -0.105, "loss/width": -0.035}, "grasps_per_frame": [283, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05586, 0.05276, 0.05588, 0.05578], "checked": [10, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__PyGPointEncoder@pyg-pointnet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=pyg-pointnet -o encoder__GSNet__PyGPointEncoder@pyg-pointnet.yaml", "config_hash": "c7eda6aa0608659e", "run": "2026-10-15@1c8fd45", "seconds": 134.6},
  {"id": "encoder/EconomicGrasp/PyGPointEncoder@pyg-edgeconv", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pyg-edgeconv", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.065x the reference (tolerance 1.25)", "loss/graspness 3.292x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.69x, loss/depth 0.75x, loss/score 0.69x"], "terms": {"loss/objectness": [0.3859, 0.1259, 3.065], "loss/graspness": [0.2086, 0.06338, 3.292], "loss/view": [0.7423, 0.8303, 0.894], "loss/angle": [1.064, 1.543, 0.69], "loss/depth": [0.5802, 0.7779, 0.746], "loss/score": [0.9012, 1.31, 0.688], "loss/width": [0.5553, 0.5737, 0.968]}, "rise": {"loss/objectness": -0.02, "loss/graspness": -0.004, "loss/view": -0.002, "loss/angle": -0.041, "loss/depth": -0.083, "loss/score": -0.046, "loss/width": -0.112}, "grasps_per_frame": [806, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.4572, -1.015, -0.8006, -0.267], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PyGPointEncoder@pyg-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pyg-edgeconv -o encoder__EconomicGrasp__PyGPointEncoder@pyg-edgeconv.yaml", "config_hash": "1db1927150dc84cb", "run": "2026-10-15@1c8fd45", "seconds": 162.3},
  {"id": "encoder/EconomicGrasp/PyGPointEncoder@pyg-point-transformer", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pyg-point-transformer", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.077x the reference (tolerance 1.25)", "loss/graspness 3.269x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.70x, loss/depth 0.79x, loss/score 0.71x"], "terms": {"loss/objectness": [0.3873, 0.1259, 3.077], "loss/graspness": [0.2072, 0.06338, 3.269], "loss/view": [0.7524, 0.8303, 0.906], "loss/angle": [1.082, 1.543, 0.701], "loss/depth": [0.6122, 0.7779, 0.787], "loss/score": [0.9244, 1.31, 0.706], "loss/width": [0.5788, 0.5737, 1.009]}, "rise": {"loss/objectness": -0.009, "loss/graspness": -0.006, "loss/view": -0.001, "loss/angle": -0.071, "loss/depth": -0.089, "loss/score": -0.071, "loss/width": -0.104}, "grasps_per_frame": [0, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [null, -2.261, -2.061, -1.62], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PyGPointEncoder@pyg-point-transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pyg-point-transformer -o encoder__EconomicGrasp__PyGPointEncoder@pyg-point-transformer.yaml", "config_hash": "44a740825d9dce46", "run": "2026-10-15@1c8fd45", "seconds": 169.4},
  {"id": "encoder/EconomicGrasp/PyGPointEncoder@pyg-pointgnn", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pyg-pointgnn", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 3.105x the reference (tolerance 1.25)", "loss/graspness 3.308x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.77x, loss/score 0.76x"], "terms": {"loss/objectness": [0.3909, 0.1259, 3.105], "loss/graspness": [0.2097, 0.06338, 3.308], "loss/view": [0.7486, 0.8303, 0.902], "loss/angle": [1.184, 1.543, 0.767], "loss/depth": [0.6624, 0.7779, 0.852], "loss/score": [0.9985, 1.31, 0.762], "loss/width": [0.6361, 0.5737, 1.109]}, "rise": {"loss/objectness": 0.017, "loss/graspness": -0.06, "loss/view": 0.002, "loss/angle": -0.06, "loss/depth": -0.087, "loss/score": -0.071, "loss/width": -0.117}, "grasps_per_frame": [780, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.658, -2.076, -1.865, -1.838], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PyGPointEncoder@pyg-pointgnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pyg-pointgnn -o encoder__EconomicGrasp__PyGPointEncoder@pyg-pointgnn.yaml", "config_hash": "a79c6efb417e662a", "run": "2026-10-15@1c8fd45", "seconds": 197.9},
  {"id": "encoder/EconomicGrasp/PyGPointEncoder@pyg-pointnet", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=pyg-pointnet", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 3.001x the reference (tolerance 1.25)", "loss/graspness 3.120x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.70x, loss/depth 0.76x, loss/score 0.71x"], "terms": {"loss/objectness": [0.3778, 0.1259, 3.001], "loss/graspness": [0.1977, 0.06338, 3.12], "loss/view": [0.7485, 0.8303, 0.902], "loss/angle": [1.08, 1.543, 0.7], "loss/depth": [0.5937, 0.7779, 0.763], "loss/score": [0.9263, 1.31, 0.707], "loss/width": [0.4908, 0.5737, 0.855]}, "rise": {"loss/objectness": -0.037, "loss/graspness": -0.028, "loss/view": 0.016, "loss/angle": -0.013, "loss/depth": -0.035, "loss/score": -0.009, "loss/width": -0.161}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.829, -1.974, -1.48, -1.706], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__PyGPointEncoder@pyg-pointnet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=pyg-pointnet -o encoder__EconomicGrasp__PyGPointEncoder@pyg-pointnet.yaml", "config_hash": "84c8493fb5f816b9", "run": "2026-10-15@1c8fd45", "seconds": 157.3},
  {"id": "encoder/FineGrasp/PyGPointEncoder@pyg-edgeconv", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pyg-edgeconv", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 3.034x the reference (tolerance 1.25)", "loss/graspness 4.416x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2726, 0.08986, 3.034], "loss/graspness": [0.2085, 0.04722, 4.416], "loss/view": [0.6824, 0.7334, 0.93], "loss/angle": [0.9356, 0.9369, 0.999], "loss/depth": [0.4362, 0.4363, 1.0], "loss/score": [0.8049, 0.8125, 0.991], "loss/width": [0.3865, 0.3151, 1.227]}, "rise": {"loss/objectness": -0.107, "loss/graspness": -0.105, "loss/view": 0.007, "loss/angle": -0.076, "loss/depth": -0.108, "loss/score": -0.058, "loss/width": -0.195}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.07, -2.934, -3.604, -3.021], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PyGPointEncoder@pyg-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pyg-edgeconv -o encoder__FineGrasp__PyGPointEncoder@pyg-edgeconv.yaml", "config_hash": "27aa6b07c8f823fa", "run": "2026-10-16@1c8fd45", "seconds": 646.0},
  {"id": "encoder/FineGrasp/PyGPointEncoder@pyg-point-transformer", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pyg-point-transformer", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 2.982x the reference (tolerance 1.25)", "loss/graspness 3.997x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2679, 0.08986, 2.982], "loss/graspness": [0.1888, 0.04722, 3.997], "loss/view": [0.6692, 0.7334, 0.912], "loss/angle": [0.8422, 0.9369, 0.899], "loss/depth": [0.4101, 0.4363, 0.94], "loss/score": [0.7378, 0.8125, 0.908], "loss/width": [0.3383, 0.3151, 1.074]}, "rise": {"loss/objectness": -0.095, "loss/graspness": -0.087, "loss/view": -0.026, "loss/angle": -0.086, "loss/depth": -0.094, "loss/score": -0.056, "loss/width": -0.158}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.273, -1.632, -4.364, -2.991], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PyGPointEncoder@pyg-point-transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pyg-point-transformer -o encoder__FineGrasp__PyGPointEncoder@pyg-point-transformer.yaml", "config_hash": "1524a19ee7cc71b3", "run": "2026-10-16@1c8fd45", "seconds": 683.4},
  {"id": "encoder/FineGrasp/PyGPointEncoder@pyg-pointgnn", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pyg-pointgnn", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 2.574x the reference (tolerance 1.25)", "loss/graspness 3.448x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2313, 0.08986, 2.574], "loss/graspness": [0.1628, 0.04722, 3.448], "loss/view": [0.7258, 0.7334, 0.99], "loss/angle": [1.007, 0.9369, 1.075], "loss/depth": [0.4752, 0.4363, 1.089], "loss/score": [0.868, 0.8125, 1.068], "loss/width": [0.3843, 0.3151, 1.22]}, "rise": {"loss/objectness": -0.098, "loss/graspness": -0.218, "loss/view": 0.028, "loss/angle": -0.04, "loss/depth": -0.069, "loss/score": -0.029, "loss/width": -0.198}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.365, -3.49, -4.649, -4.255], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PyGPointEncoder@pyg-pointgnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pyg-pointgnn -o encoder__FineGrasp__PyGPointEncoder@pyg-pointgnn.yaml", "config_hash": "81050eca27a9ca0a", "run": "2026-10-16@1c8fd45", "seconds": 742.2},
  {"id": "encoder/FineGrasp/PyGPointEncoder@pyg-pointnet", "kind": "encoder", "method": "FineGrasp", "option": "backbone=pyg-pointnet", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.614x the reference (tolerance 1.25)", "loss/graspness 3.482x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2349, 0.08986, 2.614], "loss/graspness": [0.1644, 0.04722, 3.482], "loss/view": [0.6747, 0.7334, 0.92], "loss/angle": [0.8428, 0.9369, 0.9], "loss/depth": [0.3991, 0.4363, 0.915], "loss/score": [0.7376, 0.8125, 0.908], "loss/width": [0.3521, 0.3151, 1.117]}, "rise": {"loss/objectness": -0.096, "loss/graspness": -0.143, "loss/view": -0.011, "loss/angle": -0.091, "loss/depth": -0.078, "loss/score": -0.057, "loss/width": -0.122}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.858, -4.082, -2.7, -2.015], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__PyGPointEncoder@pyg-pointnet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=pyg-pointnet -o encoder__FineGrasp__PyGPointEncoder@pyg-pointnet.yaml", "config_hash": "708b723d691b258c", "run": "2026-10-16@1c8fd45", "seconds": 622.0},
  {"id": "encoder/GraspNet-baseline/PyGPointEncoder@pyg-edgeconv", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pyg-edgeconv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.4663, 0.3739, 1.247], "loss/view": [0.03268, 0.02976, 1.098], "loss/score": [0.02056, 0.02246, 0.915], "loss/angle": [0.3276, 0.3337, 0.982], "loss/width": [0.01396, 0.01289, 1.083], "loss/tolerance": [0.01808, 0.02008, 0.9]}, "rise": {"loss/objectness": -0.048, "loss/view": -0.002, "loss/score": -0.033, "loss/angle": -0.052, "loss/width": -0.184, "loss/tolerance": -0.3}, "grasps_per_frame": [304, 400, 449, 487], "no_gradient": [], "unchanged": [], "score_median": [0.08678, 0.032, 0.04061, 0.06961], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PyGPointEncoder@pyg-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pyg-edgeconv -o encoder__GraspNet-baseline__PyGPointEncoder@pyg-edgeconv.yaml", "config_hash": "92f5d42ae51b5f2a", "run": "2026-10-15@1c8fd45", "seconds": 104.3},
  {"id": "encoder/GraspNet-baseline/PyGPointEncoder@pyg-point-transformer", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pyg-point-transformer", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.367x the reference (tolerance 1.25)", "loss/width 1.329x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.5109, 0.3739, 1.367], "loss/view": [0.03312, 0.02976, 1.113], "loss/score": [0.02053, 0.02246, 0.914], "loss/angle": [0.3377, 0.3337, 1.012], "loss/width": [0.01713, 0.01289, 1.329], "loss/tolerance": [0.02137, 0.02008, 1.064]}, "rise": {"loss/objectness": -0.002, "loss/view": -0.006, "loss/score": -0.011, "loss/angle": -0.036, "loss/width": -0.102, "loss/tolerance": -0.346}, "grasps_per_frame": [295, 389, 438, 490], "no_gradient": [], "unchanged": [], "score_median": [0.04516, 0.05404, 0.05141, 0.06753], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PyGPointEncoder@pyg-point-transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pyg-point-transformer -o encoder__GraspNet-baseline__PyGPointEncoder@pyg-point-transformer.yaml", "config_hash": "aa89243ce930ea14", "run": "2026-10-15@1c8fd45", "seconds": 106.6},
  {"id": "encoder/GraspNet-baseline/PyGPointEncoder@pyg-pointgnn", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pyg-pointgnn", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.369x the reference (tolerance 1.25)", "loss/width 1.273x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.5118, 0.3739, 1.369], "loss/view": [0.03252, 0.02976, 1.093], "loss/score": [0.01909, 0.02246, 0.85], "loss/angle": [0.3356, 0.3337, 1.006], "loss/width": [0.01642, 0.01289, 1.273], "loss/tolerance": [0.02227, 0.02008, 1.109]}, "rise": {"loss/objectness": -0.013, "loss/view": -0.007, "loss/score": -0.078, "loss/angle": -0.038, "loss/width": -0.152, "loss/tolerance": -0.248}, "grasps_per_frame": [303, 413, 506, 515], "no_gradient": [], "unchanged": [], "score_median": [-0.04097, 0.02216, -0.01419, -0.03218], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PyGPointEncoder@pyg-pointgnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pyg-pointgnn -o encoder__GraspNet-baseline__PyGPointEncoder@pyg-pointgnn.yaml", "config_hash": "697e129ed4c0c093", "run": "2026-10-15@1c8fd45", "seconds": 123.3},
  {"id": "encoder/GraspNet-baseline/PyGPointEncoder@pyg-pointnet", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=pyg-pointnet", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.338x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.5003, 0.3739, 1.338], "loss/view": [0.03247, 0.02976, 1.091], "loss/score": [0.02022, 0.02246, 0.9], "loss/angle": [0.3379, 0.3337, 1.013], "loss/width": [0.01524, 0.01289, 1.182], "loss/tolerance": [0.02036, 0.02008, 1.014]}, "rise": {"loss/objectness": -0.02, "loss/view": -0.002, "loss/score": -0.027, "loss/angle": -0.037, "loss/width": -0.104, "loss/tolerance": -0.268}, "grasps_per_frame": [255, 341, 369, 455], "no_gradient": [], "unchanged": [], "score_median": [-0.01327, 0.04591, 0.01847, 0.01514], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__PyGPointEncoder@pyg-pointnet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=pyg-pointnet -o encoder__GraspNet-baseline__PyGPointEncoder@pyg-pointnet.yaml", "config_hash": "34839e5ff3429a3b", "run": "2026-10-15@1c8fd45", "seconds": 103.2},
  {"id": "encoder/Scale-Balanced-Grasp/PyGPointEncoder@pyg-edgeconv", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pyg-edgeconv", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.506x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2973, 0.1975, 1.506], "loss/view": [0.09075, 0.08244, 1.101], "loss/score": [0.01289, 0.01418, 0.909], "loss/angle": [0.3066, 0.3132, 0.979], "loss/width": [0.01081, 0.01146, 0.943], "loss/tolerance": [0.007191, 0.007067, 1.018]}, "rise": {"loss/objectness": -0.023, "loss/view": 0.013, "loss/score": -0.035, "loss/angle": -0.074, "loss/width": 0.044, "loss/tolerance": -0.237}, "grasps_per_frame": [9, 73, 92, 84], "no_gradient": [], "unchanged": [], "score_median": [-0.01088, 0.03504, 0.0577, 0.03631], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PyGPointEncoder@pyg-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pyg-edgeconv -o encoder__Scale-Balanced-Grasp__PyGPointEncoder@pyg-edgeconv.yaml", "config_hash": "94c0bc0c97f2db76", "run": "2026-10-15@1c8fd45", "seconds": 132.9},
  {"id": "encoder/Scale-Balanced-Grasp/PyGPointEncoder@pyg-point-transformer", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pyg-point-transformer", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.609x the reference (tolerance 1.25)", "loss/tolerance 1.582x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3178, 0.1975, 1.609], "loss/view": [0.09039, 0.08244, 1.096], "loss/score": [0.01359, 0.01418, 0.958], "loss/angle": [0.3106, 0.3132, 0.992], "loss/width": [0.01014, 0.01146, 0.885], "loss/tolerance": [0.01118, 0.007067, 1.582]}, "rise": {"loss/objectness": 0.007, "loss/view": 0.015, "loss/score": -0.011, "loss/angle": -0.059, "loss/width": -0.054, "loss/tolerance": -0.242}, "grasps_per_frame": [0, 20, 43, 52], "no_gradient": [], "unchanged": [], "score_median": [null, 0.006867, 0.07043, 0.03939], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PyGPointEncoder@pyg-point-transformer.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pyg-point-transformer -o encoder__Scale-Balanced-Grasp__PyGPointEncoder@pyg-point-transformer.yaml", "config_hash": "dc79919d6bef837e", "run": "2026-10-15@1c8fd45", "seconds": 136.0},
  {"id": "encoder/Scale-Balanced-Grasp/PyGPointEncoder@pyg-pointgnn", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pyg-pointgnn", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.598x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/tolerance 0.73x"], "terms": {"loss/objectness": [0.3156, 0.1975, 1.598], "loss/view": [0.09075, 0.08244, 1.101], "loss/score": [0.01335, 0.01418, 0.941], "loss/angle": [0.3182, 0.3132, 1.016], "loss/width": [0.009875, 0.01146, 0.862], "loss/tolerance": [0.00514, 0.007067, 0.727]}, "rise": {"loss/objectness": -0.002, "loss/view": 0.019, "loss/score": -0.09, "loss/angle": -0.073, "loss/width": 0.115, "loss/tolerance": -0.228}, "grasps_per_frame": [1, 8, 43, 44], "no_gradient": [], "unchanged": [], "score_median": [0.157, 0.04781, 0.03256, 0.03314], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PyGPointEncoder@pyg-pointgnn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pyg-pointgnn -o encoder__Scale-Balanced-Grasp__PyGPointEncoder@pyg-pointgnn.yaml", "config_hash": "2f1f1aea09188af1", "run": "2026-10-15@1c8fd45", "seconds": 150.5},
  {"id": "encoder/Scale-Balanced-Grasp/PyGPointEncoder@pyg-pointnet", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=pyg-pointnet", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.575x the reference (tolerance 1.25)", "loss/tolerance 1.329x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.311, 0.1975, 1.575], "loss/view": [0.0905, 0.08244, 1.098], "loss/score": [0.01271, 0.01418, 0.896], "loss/angle": [0.3202, 0.3132, 1.022], "loss/width": [0.01425, 0.01146, 1.244], "loss/tolerance": [0.009394, 0.007067, 1.329]}, "rise": {"loss/objectness": -0.001, "loss/view": 0.014, "loss/score": -0.055, "loss/angle": -0.056, "loss/width": 0.07, "loss/tolerance": -0.333}, "grasps_per_frame": [1, 125, 131, 103], "no_gradient": [], "unchanged": [], "score_median": [-0.1465, 0.007007, 0.01814, 0.008576], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__PyGPointEncoder@pyg-pointnet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=pyg-pointnet -o encoder__Scale-Balanced-Grasp__PyGPointEncoder@pyg-pointnet.yaml", "config_hash": "171df2e9f5dcfc1d", "run": "2026-10-15@1c8fd45", "seconds": 129.8},
  {"id": "encoder/GSNet/RandLANet", "kind": "encoder", "method": "GSNet", "option": "backbone=randlanet", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/objectness 2.394x the reference (tolerance 1.25)", "loss/graspness 2.351x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.70x, loss/score 0.61x"], "terms": {"loss/objectness": [0.3739, 0.1562, 2.394], "loss/graspness": [0.1786, 0.07598, 2.351], "loss/view": [0.5949, 0.8476, 0.702], "loss/score": [0.01922, 0.0313, 0.614], "loss/width": [0.1214, 0.101, 1.201]}, "rise": {"loss/objectness": -0.109, "loss/graspness": -0.122, "loss/view": 0.078, "loss/score": 0.059, "loss/width": -0.016}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__RandLANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=randlanet -o encoder__GSNet__RandLANet.yaml", "config_hash": "5fa59b142c6cc50f", "run": "2026-10-15@1c8fd45", "seconds": 118.0},
  {"id": "encoder/EconomicGrasp/RandLANet", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=randlanet", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/objectness 2.254x the reference (tolerance 1.25)", "loss/graspness 2.143x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.73x, loss/score 0.74x"], "terms": {"loss/objectness": [0.2838, 0.1259, 2.254], "loss/graspness": [0.1358, 0.06338, 2.143], "loss/view": [0.7845, 0.8303, 0.945], "loss/angle": [1.121, 1.543, 0.727], "loss/depth": [0.6273, 0.7779, 0.806], "loss/score": [0.9749, 1.31, 0.744], "loss/width": [0.5615, 0.5737, 0.979]}, "rise": {"loss/objectness": -0.044, "loss/graspness": 0.038, "loss/view": 0.01, "loss/angle": -0.07, "loss/depth": -0.074, "loss/score": -0.067, "loss/width": -0.107}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__RandLANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=randlanet -o encoder__EconomicGrasp__RandLANet.yaml", "config_hash": "c7f5d3fcd333264f", "run": "2026-10-15@1c8fd45", "seconds": 135.9},
  {"id": "encoder/FineGrasp/RandLANet", "kind": "encoder", "method": "FineGrasp", "option": "backbone=randlanet", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/objectness 1.660x the reference (tolerance 1.25)", "loss/graspness 1.779x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1492, 0.08986, 1.66], "loss/graspness": [0.084, 0.04722, 1.779], "loss/view": [0.7408, 0.7334, 1.01], "loss/angle": [0.8481, 0.9369, 0.905], "loss/depth": [0.4092, 0.4363, 0.938], "loss/score": [0.7599, 0.8125, 0.935], "loss/width": [0.3293, 0.3151, 1.045]}, "rise": {"loss/objectness": -0.155, "loss/graspness": -0.221, "loss/view": -0.004, "loss/angle": -0.133, "loss/depth": -0.131, "loss/score": -0.102, "loss/width": -0.22}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__RandLANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=randlanet -o encoder__FineGrasp__RandLANet.yaml", "config_hash": "9af27410dc5d0687", "run": "2026-10-16@1c8fd45", "seconds": 583.9},
  {"id": "encoder/GraspNet-baseline/RandLANet", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=randlanet", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.4477, 0.3739, 1.197], "loss/view": [0.03227, 0.02976, 1.084], "loss/score": [0.01929, 0.02246, 0.859], "loss/angle": [0.3317, 0.3337, 0.994], "loss/width": [0.01479, 0.01289, 1.147], "loss/tolerance": [0.0178, 0.02008, 0.887]}, "rise": {"loss/objectness": -0.02, "loss/view": -0.014, "loss/score": -0.063, "loss/angle": -0.041, "loss/width": -0.081, "loss/tolerance": -0.306}, "grasps_per_frame": [378, 588, 524, 494], "no_gradient": [], "unchanged": [], "score_median": [0.1037, 0.1017, 0.09143, 0.04334], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__RandLANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=randlanet -o encoder__GraspNet-baseline__RandLANet.yaml", "config_hash": "00356b1062c8a726", "run": "2026-10-15@1c8fd45", "seconds": 90.8},
  {"id": "encoder/Scale-Balanced-Grasp/RandLANet", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=randlanet", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.336x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2638, 0.1975, 1.336], "loss/view": [0.08794, 0.08244, 1.067], "loss/score": [0.01306, 0.01418, 0.921], "loss/angle": [0.3125, 0.3132, 0.998], "loss/width": [0.01251, 0.01146, 1.092], "loss/tolerance": [0.006926, 0.007067, 0.98]}, "rise": {"loss/objectness": -0.017, "loss/view": -0.005, "loss/score": -0.078, "loss/angle": -0.074, "loss/width": -0.174, "loss/tolerance": -0.359}, "grasps_per_frame": [141, 64, 109, 85], "no_gradient": [], "unchanged": [], "score_median": [0.01871, 0.02926, 0.02474, 0.02813], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__RandLANet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=randlanet -o encoder__Scale-Balanced-Grasp__RandLANet.yaml", "config_hash": "d64117263086b823", "run": "2026-10-15@1c8fd45", "seconds": 120.6},
  {"id": "encoder/GSNet/SpUNet@spunet-gaussiancross", "kind": "encoder", "method": "GSNet", "option": "backbone=spunet-gaussiancross", "level1": "runs", "outcome": "worse", "reasons": ["loss/score 1.328x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.79x, loss/graspness 0.46x"], "terms": {"loss/objectness": [0.1238, 0.1562, 0.793], "loss/graspness": [0.03521, 0.07598, 0.463], "loss/view": [0.8685, 0.8476, 1.025], "loss/score": [0.04158, 0.0313, 1.328], "loss/width": [0.08636, 0.101, 0.855]}, "rise": {"loss/objectness": -0.373, "loss/graspness": -0.304, "loss/view": 0.018, "loss/score": 0.025, "loss/width": -0.113}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09902, 0.09938, 0.103, 0.09663], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__SpUNet@spunet-gaussiancross.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=spunet-gaussiancross -o encoder__GSNet__SpUNet@spunet-gaussiancross.yaml", "config_hash": "d0babbd300a11a27", "run": "2026-10-15@1c8fd45", "seconds": 113.9},
  {"id": "encoder/GSNet/SpUNet@spunet", "kind": "encoder", "method": "GSNet", "option": "backbone=spunet", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.72x"], "terms": {"loss/objectness": [0.1319, 0.1562, 0.845], "loss/graspness": [0.05473, 0.07598, 0.72], "loss/view": [0.8404, 0.8476, 0.991], "loss/score": [0.034, 0.0313, 1.086], "loss/width": [0.09275, 0.101, 0.918]}, "rise": {"loss/objectness": -0.367, "loss/graspness": -0.426, "loss/view": 0.12, "loss/score": 0.204, "loss/width": -0.103}, "grasps_per_frame": [438, 822, 794, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05701, 0.04754, 0.05959, 0.05786], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__SpUNet@spunet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=spunet -o encoder__GSNet__SpUNet@spunet.yaml", "config_hash": "7e4d89d600ec29e6", "run": "2026-10-15@1c8fd45", "seconds": 124.5},
  {"id": "encoder/EconomicGrasp/SpUNet@spunet-gaussiancross", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=spunet-gaussiancross", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.43x, loss/angle 0.72x, loss/depth 0.67x, loss/score 0.72x, loss/width 0.58x"], "terms": {"loss/objectness": [0.1078, 0.1259, 0.857], "loss/graspness": [0.02701, 0.06338, 0.426], "loss/view": [0.8308, 0.8303, 1.001], "loss/angle": [1.111, 1.543, 0.72], "loss/depth": [0.5215, 0.7779, 0.67], "loss/score": [0.9386, 1.31, 0.717], "loss/width": [0.332, 0.5737, 0.579]}, "rise": {"loss/objectness": -0.196, "loss/graspness": -0.253, "loss/view": -0.032, "loss/angle": -0.111, "loss/depth": -0.091, "loss/score": -0.091, "loss/width": -0.142}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.505, 0.02685, -0.07022, -0.3188], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__SpUNet@spunet-gaussiancross.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=spunet-gaussiancross -o encoder__EconomicGrasp__SpUNet@spunet-gaussiancross.yaml", "config_hash": "45fc4159194dec92", "run": "2026-10-15@1c8fd45", "seconds": 128.4},
  {"id": "encoder/EconomicGrasp/SpUNet@spunet", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=spunet", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1422, 0.1259, 1.13], "loss/graspness": [0.06378, 0.06338, 1.006], "loss/view": [0.8275, 0.8303, 0.997], "loss/angle": [1.364, 1.543, 0.884], "loss/depth": [0.6796, 0.7779, 0.874], "loss/score": [1.158, 1.31, 0.884], "loss/width": [0.5015, 0.5737, 0.874]}, "rise": {"loss/objectness": -0.253, "loss/graspness": -0.316, "loss/view": 0.022, "loss/angle": -0.002, "loss/depth": 0.003, "loss/score": 0.005, "loss/width": -0.177}, "grasps_per_frame": [317, 567, 715, 386], "no_gradient": [], "unchanged": [], "score_median": [-0.1115, -0.1916, -0.2444, -0.006819], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__SpUNet@spunet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=spunet -o encoder__EconomicGrasp__SpUNet@spunet.yaml", "config_hash": "0c01e2c38883e0d6", "run": "2026-10-15@1c8fd45", "seconds": 129.2},
  {"id": "encoder/FineGrasp/SpUNet@spunet-gaussiancross", "kind": "encoder", "method": "FineGrasp", "option": "backbone=spunet-gaussiancross", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.71x"], "terms": {"loss/objectness": [0.08074, 0.08986, 0.898], "loss/graspness": [0.03353, 0.04722, 0.71], "loss/view": [0.7012, 0.7334, 0.956], "loss/angle": [0.7504, 0.9369, 0.801], "loss/depth": [0.3669, 0.4363, 0.841], "loss/score": [0.683, 0.8125, 0.841], "loss/width": [0.2558, 0.3151, 0.812]}, "rise": {"loss/objectness": -0.244, "loss/graspness": -0.272, "loss/view": -0.082, "loss/angle": -0.145, "loss/depth": -0.103, "loss/score": -0.111, "loss/width": -0.179}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-5.515, -4.77, -5.499, -5.587], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__SpUNet@spunet-gaussiancross.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=spunet-gaussiancross -o encoder__FineGrasp__SpUNet@spunet-gaussiancross.yaml", "config_hash": "7f07d210c6d5a6aa", "run": "2026-10-16@1c8fd45", "seconds": 562.1},
  {"id": "encoder/FineGrasp/SpUNet@spunet", "kind": "encoder", "method": "FineGrasp", "option": "backbone=spunet", "level1": "runs-unstable", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09897, 0.08986, 1.101], "loss/graspness": [0.04278, 0.04722, 0.906], "loss/view": [0.7263, 0.7334, 0.99], "loss/angle": [0.8718, 0.9369, 0.93], "loss/depth": [0.4191, 0.4363, 0.96], "loss/score": [0.7798, 0.8125, 0.96], "loss/width": [0.2867, 0.3151, 0.91]}, "rise": {"loss/objectness": -0.159, "loss/graspness": -0.338, "loss/view": -0.025, "loss/angle": -0.201, "loss/depth": -0.188, "loss/score": -0.164, "loss/width": -0.268}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.661, -3.149, -3.604, -3.286], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__SpUNet@spunet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=spunet -o encoder__FineGrasp__SpUNet@spunet.yaml", "config_hash": "4523564bef15f4e5", "run": "2026-10-16@1c8fd45", "seconds": 580.0},
  {"id": "encoder/GraspNet-baseline/SpUNet@spunet-gaussiancross", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=spunet-gaussiancross", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.34x, loss/tolerance 0.80x"], "terms": {"loss/objectness": [0.1279, 0.3739, 0.342], "loss/view": [0.02408, 0.02976, 0.809], "loss/score": [0.02078, 0.02246, 0.925], "loss/angle": [0.3262, 0.3337, 0.978], "loss/width": [0.01278, 0.01289, 0.992], "loss/tolerance": [0.01601, 0.02008, 0.797]}, "rise": {"loss/objectness": -0.108, "loss/view": -0.055, "loss/score": -0.009, "loss/angle": -0.042, "loss/width": -0.173, "loss/tolerance": -0.325}, "grasps_per_frame": [527, 462, 518, 522], "no_gradient": [], "unchanged": [], "score_median": [0.2086, 0.1718, 0.1087, 0.1419], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__SpUNet@spunet-gaussiancross.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=spunet-gaussiancross -o encoder__GraspNet-baseline__SpUNet@spunet-gaussiancross.yaml", "config_hash": "761e30784b5ef754", "run": "2026-10-15@1c8fd45", "seconds": 95.5},
  {"id": "encoder/GraspNet-baseline/SpUNet@spunet", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=spunet", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.49x, loss/tolerance 0.69x"], "terms": {"loss/objectness": [0.1833, 0.3739, 0.49], "loss/view": [0.02899, 0.02976, 0.974], "loss/score": [0.01982, 0.02246, 0.882], "loss/angle": [0.334, 0.3337, 1.001], "loss/width": [0.01153, 0.01289, 0.894], "loss/tolerance": [0.01389, 0.02008, 0.692]}, "rise": {"loss/objectness": -0.15, "loss/view": -0.04, "loss/score": -0.042, "loss/angle": -0.031, "loss/width": -0.146, "loss/tolerance": -0.322}, "grasps_per_frame": [539, 487, 552, 523], "no_gradient": [], "unchanged": [], "score_median": [0.1238, 0.1221, 0.1382, 0.1429], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__SpUNet@spunet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=spunet -o encoder__GraspNet-baseline__SpUNet@spunet.yaml", "config_hash": "0933761d9cc15abe", "run": "2026-10-15@1c8fd45", "seconds": 95.1},
  {"id": "encoder/Scale-Balanced-Grasp/SpUNet@spunet-gaussiancross", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=spunet-gaussiancross", "level1": "runs", "outcome": "diverging", "reasons": ["loss/width rises +26 % over the last half; the reference +14 %", "loss/width 1.267x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.44x"], "terms": {"loss/objectness": [0.08729, 0.1975, 0.442], "loss/view": [0.07288, 0.08244, 0.884], "loss/score": [0.01264, 0.01418, 0.891], "loss/angle": [0.3148, 0.3132, 1.005], "loss/width": [0.01452, 0.01146, 1.267], "loss/tolerance": [0.006874, 0.007067, 0.973]}, "rise": {"loss/objectness": -0.085, "loss/view": -0.042, "loss/score": -0.028, "loss/angle": -0.063, "loss/width": 0.26, "loss/tolerance": -0.255}, "grasps_per_frame": [136, 139, 135, 110], "no_gradient": [], "unchanged": [], "score_median": [0.09766, 0.02832, 0.06253, 0.04848], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__SpUNet@spunet-gaussiancross.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=spunet-gaussiancross -o encoder__Scale-Balanced-Grasp__SpUNet@spunet-gaussiancross.yaml", "config_hash": "bccad6521e62f646", "run": "2026-10-15@1c8fd45", "seconds": 124.8},
  {"id": "encoder/Scale-Balanced-Grasp/SpUNet@spunet", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=spunet", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.57x"], "terms": {"loss/objectness": [0.1127, 0.1975, 0.571], "loss/view": [0.07922, 0.08244, 0.961], "loss/score": [0.01268, 0.01418, 0.894], "loss/angle": [0.3002, 0.3132, 0.958], "loss/width": [0.00942, 0.01146, 0.822], "loss/tolerance": [0.006141, 0.007067, 0.869]}, "rise": {"loss/objectness": -0.167, "loss/view": -0.024, "loss/score": -0.052, "loss/angle": -0.08, "loss/width": 0.082, "loss/tolerance": -0.333}, "grasps_per_frame": [129, 134, 141, 123], "no_gradient": [], "unchanged": [], "score_median": [0.03508, 0.04151, 0.04457, 0.04518], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__SpUNet@spunet.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=spunet -o encoder__Scale-Balanced-Grasp__SpUNet@spunet.yaml", "config_hash": "60e0dfa335f4d298", "run": "2026-10-15@1c8fd45", "seconds": 124.7},
  {"id": "encoder/GraspNet-baseline/SparseUNet14", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=sparse-unet14", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.50x, loss/tolerance 0.76x"], "terms": {"loss/objectness": [0.1876, 0.3739, 0.502], "loss/view": [0.02997, 0.02976, 1.007], "loss/score": [0.02051, 0.02246, 0.913], "loss/angle": [0.33, 0.3337, 0.989], "loss/width": [0.01196, 0.01289, 0.928], "loss/tolerance": [0.01527, 0.02008, 0.761]}, "rise": {"loss/objectness": -0.092, "loss/view": -0.037, "loss/score": -0.032, "loss/angle": -0.045, "loss/width": -0.207, "loss/tolerance": -0.411}, "grasps_per_frame": [535, 497, 568, 543], "no_gradient": [], "unchanged": [], "score_median": [0.04365, 0.07749, 0.08857, 0.06426], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__SparseUNet14.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=sparse-unet14 -o encoder__GraspNet-baseline__SparseUNet14.yaml", "config_hash": "891974f36e751e2d", "run": "2026-10-15@1c8fd45", "seconds": 95.1},
  {"id": "encoder/Scale-Balanced-Grasp/SparseUNet14", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=sparse-unet14", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.74x, loss/width 0.72x, loss/tolerance 0.71x"], "terms": {"loss/objectness": [0.147, 0.1975, 0.744], "loss/view": [0.08404, 0.08244, 1.019], "loss/score": [0.01242, 0.01418, 0.876], "loss/angle": [0.2999, 0.3132, 0.957], "loss/width": [0.008294, 0.01146, 0.724], "loss/tolerance": [0.005002, 0.007067, 0.708]}, "rise": {"loss/objectness": -0.16, "loss/view": -0.006, "loss/score": -0.083, "loss/angle": -0.07, "loss/width": -0.021, "loss/tolerance": -0.207}, "grasps_per_frame": [126, 125, 139, 121], "no_gradient": [], "unchanged": [], "score_median": [0.03699, 0.05122, 0.0479, 0.05947], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__SparseUNet14.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=sparse-unet14 -o encoder__Scale-Balanced-Grasp__SparseUNet14.yaml", "config_hash": "399e2a845e2912b9", "run": "2026-10-15@1c8fd45", "seconds": 123.7},
  {"id": "encoder/GSNet/Uni3D", "kind": "encoder", "method": "GSNet", "option": "backbone=uni3d", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.647x the reference (tolerance 1.25)", "loss/graspness 1.461x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.75x"], "terms": {"loss/objectness": [0.2571, 0.1562, 1.647], "loss/graspness": [0.111, 0.07598, 1.461], "loss/view": [0.68, 0.8476, 0.802], "loss/score": [0.02354, 0.0313, 0.752], "loss/width": [0.09878, 0.101, 0.978]}, "rise": {"loss/objectness": -0.123, "loss/graspness": -0.133, "loss/view": 0.034, "loss/score": 0.037, "loss/width": -0.012}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08363, 0.08866, 0.08428, 0.0812], "checked": [8, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__Uni3D.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=uni3d -o encoder__GSNet__Uni3D.yaml", "config_hash": "e9f353e5bb3278ba", "run": "2026-10-15@1c8fd45", "seconds": 144.6},
  {"id": "encoder/EconomicGrasp/Uni3D", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=uni3d", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.768x the reference (tolerance 1.25)", "loss/graspness 2.473x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.77x, loss/depth 0.75x, loss/score 0.77x"], "terms": {"loss/objectness": [0.3485, 0.1259, 2.768], "loss/graspness": [0.1567, 0.06338, 2.473], "loss/view": [0.78, 0.8303, 0.939], "loss/angle": [1.184, 1.543, 0.767], "loss/depth": [0.5811, 0.7779, 0.747], "loss/score": [1.01, 1.31, 0.772], "loss/width": [0.5262, 0.5737, 0.917]}, "rise": {"loss/objectness": 0.02, "loss/graspness": -0.026, "loss/view": 0.008, "loss/angle": -0.092, "loss/depth": -0.117, "loss/score": -0.091, "loss/width": -0.163}, "grasps_per_frame": [364, 256, 510, 435], "no_gradient": [], "unchanged": [], "score_median": [-2.715, -2.78, -2.754, -2.675], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__Uni3D.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=uni3d -o encoder__EconomicGrasp__Uni3D.yaml", "config_hash": "9fcacddf38bbdab2", "run": "2026-10-15@1c8fd45", "seconds": 154.7},
  {"id": "encoder/FineGrasp/Uni3D", "kind": "encoder", "method": "FineGrasp", "option": "backbone=uni3d", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.659x the reference (tolerance 1.25)", "loss/graspness 1.938x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.149, 0.08986, 1.659], "loss/graspness": [0.0915, 0.04722, 1.938], "loss/view": [0.7386, 0.7334, 1.007], "loss/angle": [0.7928, 0.9369, 0.846], "loss/depth": [0.3879, 0.4363, 0.889], "loss/score": [0.7201, 0.8125, 0.886], "loss/width": [0.2894, 0.3151, 0.918]}, "rise": {"loss/objectness": -0.211, "loss/graspness": -0.269, "loss/view": -0.01, "loss/angle": -0.093, "loss/depth": -0.052, "loss/score": -0.047, "loss/width": -0.201}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.474, -4.279, -4.382, -4.502], "checked": [10, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__Uni3D.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=uni3d -o encoder__FineGrasp__Uni3D.yaml", "config_hash": "cb67b37c0d64071d", "run": "2026-10-16@1c8fd45", "seconds": 637.4},
  {"id": "encoder/GraspNet-baseline/Uni3D", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=uni3d", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.78x"], "terms": {"loss/objectness": [0.3443, 0.3739, 0.921], "loss/view": [0.0312, 0.02976, 1.049], "loss/score": [0.0205, 0.02246, 0.913], "loss/angle": [0.3266, 0.3337, 0.979], "loss/width": [0.01171, 0.01289, 0.908], "loss/tolerance": [0.01575, 0.02008, 0.784]}, "rise": {"loss/objectness": -0.091, "loss/view": -0.035, "loss/score": -0.026, "loss/angle": -0.044, "loss/width": -0.155, "loss/tolerance": -0.284}, "grasps_per_frame": [972, 991, 943, 900], "no_gradient": [], "unchanged": [], "score_median": [0.1361, 0.1695, 0.1578, 0.1808], "checked": [15, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__Uni3D.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=uni3d -o encoder__GraspNet-baseline__Uni3D.yaml", "config_hash": "13fa6fa22c4b7a51", "run": "2026-10-15@1c8fd45", "seconds": 99.0},
  {"id": "encoder/Scale-Balanced-Grasp/Uni3D", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=uni3d", "level1": "runs-empty", "outcome": "diverging", "reasons": ["loss/width rises +29 % over the last half; the reference +14 %"], "terms": {"loss/objectness": [0.2347, 0.1975, 1.188], "loss/view": [0.08059, 0.08244, 0.978], "loss/score": [0.01208, 0.01418, 0.852], "loss/angle": [0.2955, 0.3132, 0.944], "loss/width": [0.01244, 0.01146, 1.086], "loss/tolerance": [0.007505, 0.007067, 1.062]}, "rise": {"loss/objectness": -0.023, "loss/view": -0.024, "loss/score": -0.059, "loss/angle": -0.088, "loss/width": 0.29, "loss/tolerance": -0.342}, "grasps_per_frame": [103, 39, 88, 52], "no_gradient": [], "unchanged": [], "score_median": [0.08292, 0.04765, 0.03959, 0.05058], "checked": [17, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__Uni3D.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=uni3d -o encoder__Scale-Balanced-Grasp__Uni3D.yaml", "config_hash": "e8a8aaf56d36e504", "run": "2026-10-15@1c8fd45", "seconds": 127.8},
  {"id": "encoder/GSNet/Volt", "kind": "encoder", "method": "GSNet", "option": "backbone=volt", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1628, 0.1562, 1.043], "loss/graspness": [0.07582, 0.07598, 0.998], "loss/view": [0.9007, 0.8476, 1.063], "loss/score": [0.03256, 0.0313, 1.04], "loss/width": [0.09837, 0.101, 0.973]}, "rise": {"loss/objectness": -0.319, "loss/graspness": -0.433, "loss/view": 0.255, "loss/score": 0.142, "loss/width": -0.143}, "grasps_per_frame": [529, 520, 769, 515], "no_gradient": [], "unchanged": [], "score_median": [0.06037, 0.06078, 0.05648, 0.05844], "checked": [10, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GSNet__Volt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=volt -o encoder__GSNet__Volt.yaml", "config_hash": "2f735075ba518fdd", "run": "2026-10-15@1c8fd45", "seconds": 123.9},
  {"id": "encoder/EconomicGrasp/Volt", "kind": "encoder", "method": "EconomicGrasp", "option": "backbone=volt", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/objectness 2.071x the reference (tolerance 1.25)", "loss/graspness 3.434x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.74x, loss/depth 0.75x, loss/score 0.74x"], "terms": {"loss/objectness": [0.2607, 0.1259, 2.071], "loss/graspness": [0.2177, 0.06338, 3.434], "loss/view": [0.735, 0.8303, 0.885], "loss/angle": [1.136, 1.543, 0.736], "loss/depth": [0.583, 0.7779, 0.75], "loss/score": [0.9736, 1.31, 0.743], "loss/width": [0.5996, 0.5737, 1.045]}, "rise": {"loss/objectness": -0.419, "loss/graspness": -0.038, "loss/view": 0.107, "loss/angle": -0.008, "loss/depth": -0.021, "loss/score": 0.0, "loss/width": -0.131}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__EconomicGrasp__Volt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=volt -o encoder__EconomicGrasp__Volt.yaml", "config_hash": "0135226a2a1a0205", "run": "2026-10-15@1c8fd45", "seconds": 128.3},
  {"id": "encoder/FineGrasp/Volt", "kind": "encoder", "method": "FineGrasp", "option": "backbone=volt", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.075x the reference (tolerance 1.25)", "loss/graspness 3.531x the reference (tolerance 1.25)", "loss/width 1.276x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1865, 0.08986, 2.075], "loss/graspness": [0.1667, 0.04722, 3.531], "loss/view": [0.7778, 0.7334, 1.061], "loss/angle": [0.9567, 0.9369, 1.021], "loss/depth": [0.4307, 0.4363, 0.987], "loss/score": [0.8436, 0.8125, 1.038], "loss/width": [0.4021, 0.3151, 1.276]}, "rise": {"loss/objectness": -0.182, "loss/graspness": -0.267, "loss/view": 0.025, "loss/angle": -0.047, "loss/depth": -0.112, "loss/score": -0.016, "loss/width": -0.158}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.943, -2.261, -1.992, -2.15], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe encoder__FineGrasp__Volt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=volt -o encoder__FineGrasp__Volt.yaml", "config_hash": "4b0be9e12688973a", "run": "2026-10-16@1c8fd45", "seconds": 535.5},
  {"id": "encoder/GraspNet-baseline/Volt", "kind": "encoder", "method": "GraspNet-baseline", "option": "backbone=volt", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.76x"], "terms": {"loss/objectness": [0.2855, 0.3739, 0.764], "loss/view": [0.03278, 0.02976, 1.101], "loss/score": [0.01972, 0.02246, 0.878], "loss/angle": [0.3441, 0.3337, 1.031], "loss/width": [0.01407, 0.01289, 1.092], "loss/tolerance": [0.01903, 0.02008, 0.948]}, "rise": {"loss/objectness": -0.106, "loss/view": -0.002, "loss/score": -0.094, "loss/angle": -0.032, "loss/width": -0.134, "loss/tolerance": -0.348}, "grasps_per_frame": [544, 505, 552, 540], "no_gradient": [], "unchanged": [], "score_median": [0.07029, 0.01292, 0.104, 0.09732], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__GraspNet-baseline__Volt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=volt -o encoder__GraspNet-baseline__Volt.yaml", "config_hash": "ccacf35d149b3fbe", "run": "2026-10-15@1c8fd45", "seconds": 92.7},
  {"id": "encoder/Scale-Balanced-Grasp/Volt", "kind": "encoder", "method": "Scale-Balanced-Grasp", "option": "backbone=volt", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/tolerance 1.340x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1768, 0.1975, 0.896], "loss/view": [0.09024, 0.08244, 1.095], "loss/score": [0.01261, 0.01418, 0.889], "loss/angle": [0.3098, 0.3132, 0.989], "loss/width": [0.01236, 0.01146, 1.079], "loss/tolerance": [0.009468, 0.007067, 1.34]}, "rise": {"loss/objectness": -0.126, "loss/view": -0.003, "loss/score": -0.062, "loss/angle": -0.069, "loss/width": 0.075, "loss/tolerance": -0.32}, "grasps_per_frame": [134, 127, 139, 121], "no_gradient": [], "unchanged": [], "score_median": [0.07195, 0.04323, 0.09202, 0.04485], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe encoder__Scale-Balanced-Grasp__Volt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=volt -o encoder__Scale-Balanced-Grasp__Volt.yaml", "config_hash": "8354ae98404b8ff1", "run": "2026-10-15@1c8fd45", "seconds": 122.3},
  {"id": "stage/GSNet/proposal/dense-ffps", "kind": "proposal", "method": "GSNet", "option": "proposal=dense-ffps", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.45x, loss/score 0.37x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.3788, 0.8476, 0.447], "loss/score": [0.01167, 0.0313, 0.373], "loss/width": [0.1062, 0.101, 1.051]}, "rise": {"loss/view": 0.02, "loss/score": -0.04, "loss/width": -0.066}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04856, 0.04787, 0.04889, 0.06013], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__dense-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=dense-ffps -o stage__GSNet__proposal__dense-ffps.yaml", "config_hash": "26cf108fe9508da4", "run": "2026-10-16@c43ea39", "seconds": 451.2},
  {"id": "stage/EconomicGrasp/proposal/dense-ffps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=dense-ffps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.7313, 0.8303, 0.881], "loss/angle": [1.644, 1.543, 1.065], "loss/depth": [0.914, 0.7779, 1.175], "loss/score": [1.427, 1.31, 1.09], "loss/width": [0.619, 0.5737, 1.079]}, "rise": {"loss/view": 0.001, "loss/angle": 0.005, "loss/depth": 0.007, "loss/score": 0.043, "loss/width": -0.077}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7959, -0.7187, -0.6494, -0.6788], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__dense-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=dense-ffps -o stage__EconomicGrasp__proposal__dense-ffps.yaml", "config_hash": "2666d82a2dbdb3df", "run": "2026-10-16@c43ea39", "seconds": 507.4},
  {"id": "stage/FineGrasp/proposal/dense-ffps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=dense-ffps", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.533x the reference (tolerance 1.25)", "loss/depth 1.742x the reference (tolerance 1.25)", "loss/score 1.454x the reference (tolerance 1.25)", "loss/width 2.274x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.75x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.553, 0.7334, 0.754], "loss/angle": [1.436, 0.9369, 1.533], "loss/depth": [0.7601, 0.4363, 1.742], "loss/score": [1.181, 0.8125, 1.454], "loss/width": [0.7167, 0.3151, 2.274]}, "rise": {"loss/view": -0.087, "loss/angle": 0.052, "loss/depth": 0.001, "loss/score": 0.036, "loss/width": -0.093}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.488, -2.417, -1.838, -1.706], "checked": [13, 4], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__dense-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=dense-ffps -o stage__FineGrasp__proposal__dense-ffps.yaml", "config_hash": "f6829cf360073411", "run": "2026-10-16@c43ea39", "seconds": 1248.7},
  {"id": "stage/GraspNet-baseline/proposal/dense-ffps", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=dense-ffps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3374, 0.3739, 0.902], "loss/view": [0.0262, 0.02976, 0.881], "loss/score": [0.022, 0.02246, 0.98], "loss/angle": [0.3452, 0.3337, 1.035], "loss/width": [0.01416, 0.01289, 1.099], "loss/tolerance": [0.02126, 0.02008, 1.059]}, "rise": {"loss/objectness": -0.063, "loss/view": -0.033, "loss/score": -0.067, "loss/angle": -0.027, "loss/width": -0.091, "loss/tolerance": -0.354}, "grasps_per_frame": [293, 204, 374, 355], "no_gradient": [], "unchanged": [], "score_median": [0.0827, 0.02401, 0.08368, 0.08523], "checked": [10, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__dense-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=dense-ffps -o stage__GraspNet-baseline__proposal__dense-ffps.yaml", "config_hash": "f588fc5b90d4b864", "run": "2026-10-16@c43ea39", "seconds": 261.5},
  {"id": "stage/Scale-Balanced-Grasp/proposal/dense-ffps", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=dense-ffps", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.68x"], "terms": {"loss/objectness": [0.1345, 0.1975, 0.681], "loss/view": [0.08064, 0.08244, 0.978], "loss/score": [0.01277, 0.01418, 0.901], "loss/angle": [0.3036, 0.3132, 0.969], "loss/width": [0.01348, 0.01146, 1.176], "loss/tolerance": [0.008529, 0.007067, 1.207]}, "rise": {"loss/objectness": -0.077, "loss/view": -0.035, "loss/score": 0.016, "loss/angle": -0.082, "loss/width": -0.198, "loss/tolerance": -0.241}, "grasps_per_frame": [32, 63, 32, 18], "no_gradient": [], "unchanged": [], "score_median": [0.0474, 0.05298, 0.02864, 0.05687], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__dense-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=dense-ffps -o stage__Scale-Balanced-Grasp__proposal__dense-ffps.yaml", "config_hash": "dfab7e6aea67928e", "run": "2026-10-16@c43ea39", "seconds": 335.5},
  {"id": "stage/GSNet/proposal/dense-fps", "kind": "proposal", "method": "GSNet", "option": "proposal=dense-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.31x, loss/score 0.25x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.2628, 0.8476, 0.31], "loss/score": [0.007973, 0.0313, 0.255], "loss/width": [0.1188, 0.101, 1.176]}, "rise": {"loss/view": 0.008, "loss/score": -0.134, "loss/width": -0.055}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04502, 0.04984, 0.04985, 0.05812], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__dense-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=dense-fps -o stage__GSNet__proposal__dense-fps.yaml", "config_hash": "f9b936b4066c293e", "run": "2026-10-16@c43ea39", "seconds": 162.5},
  {"id": "stage/EconomicGrasp/proposal/dense-fps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=dense-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.68x, loss/depth 0.75x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5681, 0.8303, 0.684], "loss/angle": [1.253, 1.543, 0.812], "loss/depth": [0.5857, 0.7779, 0.753], "loss/score": [1.085, 1.31, 0.829], "loss/width": [0.707, 0.5737, 1.232]}, "rise": {"loss/view": -0.012, "loss/angle": 0.007, "loss/depth": -0.013, "loss/score": 0.025, "loss/width": -0.04}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.112, -1.168, -0.9866, -0.8482], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__dense-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=dense-fps -o stage__EconomicGrasp__proposal__dense-fps.yaml", "config_hash": "dbf9e95d24673b56", "run": "2026-10-16@c43ea39", "seconds": 185.0},
  {"id": "stage/FineGrasp/proposal/dense-fps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=dense-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.528x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.78x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5711, 0.7334, 0.779], "loss/angle": [0.9296, 0.9369, 0.992], "loss/depth": [0.4089, 0.4363, 0.937], "loss/score": [0.776, 0.8125, 0.955], "loss/width": [0.4815, 0.3151, 1.528]}, "rise": {"loss/view": -0.016, "loss/angle": -0.021, "loss/depth": -0.034, "loss/score": -0.016, "loss/width": -0.134}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.723, -2.896, -2.962, -2.508], "checked": [13, 4], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__dense-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=dense-fps -o stage__FineGrasp__proposal__dense-fps.yaml", "config_hash": "7b16ebb864c69d65", "run": "2026-10-16@c43ea39", "seconds": 603.4},
  {"id": "stage/GraspNet-baseline/proposal/dense-fps", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=dense-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3644, 0.3739, 0.975], "loss/view": [0.03017, 0.02976, 1.014], "loss/score": [0.01952, 0.02246, 0.869], "loss/angle": [0.3411, 0.3337, 1.022], "loss/width": [0.01252, 0.01289, 0.971], "loss/tolerance": [0.01919, 0.02008, 0.956]}, "rise": {"loss/objectness": -0.107, "loss/view": -0.027, "loss/score": -0.064, "loss/angle": -0.035, "loss/width": -0.339, "loss/tolerance": -0.359}, "grasps_per_frame": [365, 495, 247, 398], "no_gradient": [], "unchanged": [], "score_median": [0.1309, 0.1395, 0.1692, 0.106], "checked": [10, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__dense-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=dense-fps -o stage__GraspNet-baseline__proposal__dense-fps.yaml", "config_hash": "6016fdeee43dbf95", "run": "2026-10-16@c43ea39", "seconds": 107.0},
  {"id": "stage/Scale-Balanced-Grasp/proposal/dense-fps", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=dense-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1837, 0.1975, 0.93], "loss/view": [0.08243, 0.08244, 1.0], "loss/score": [0.01305, 0.01418, 0.92], "loss/angle": [0.3018, 0.3132, 0.964], "loss/width": [0.01126, 0.01146, 0.983], "loss/tolerance": [0.007483, 0.007067, 1.059]}, "rise": {"loss/objectness": -0.141, "loss/view": -0.02, "loss/score": -0.05, "loss/angle": -0.086, "loss/width": -0.201, "loss/tolerance": -0.278}, "grasps_per_frame": [14, 44, 12, 8], "no_gradient": [], "unchanged": [], "score_median": [0.002518, 0.07947, 0.01127, -0.1074], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__dense-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=dense-fps -o stage__Scale-Balanced-Grasp__proposal__dense-fps.yaml", "config_hash": "31a01d07c88f6221", "run": "2026-10-16@c43ea39", "seconds": 134.5},
  {"id": "stage/GSNet/proposal/dense-fpsample", "kind": "proposal", "method": "GSNet", "option": "proposal=dense-fpsample", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.31x, loss/score 0.26x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.264, 0.8476, 0.311], "loss/score": [0.008246, 0.0313, 0.263], "loss/width": [0.1111, 0.101, 1.1]}, "rise": {"loss/view": 0.013, "loss/score": -0.126, "loss/width": -0.086}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0457, 0.04666, 0.04529, 0.04775], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__dense-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=dense-fpsample -o stage__GSNet__proposal__dense-fpsample.yaml", "config_hash": "b899d7849dc93dfe", "run": "2026-10-16@c43ea39", "seconds": 160.6},
  {"id": "stage/EconomicGrasp/proposal/dense-fpsample", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=dense-fpsample", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.70x, loss/angle 0.77x, loss/depth 0.72x, loss/score 0.79x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5783, 0.8303, 0.697], "loss/angle": [1.191, 1.543, 0.772], "loss/depth": [0.5639, 0.7779, 0.725], "loss/score": [1.04, 1.31, 0.794], "loss/width": [0.6843, 0.5737, 1.193]}, "rise": {"loss/view": -0.007, "loss/angle": -0.019, "loss/depth": -0.045, "loss/score": -0.015, "loss/width": -0.05}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.551, -1.421, -1.418, -1.498], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__dense-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=dense-fpsample -o stage__EconomicGrasp__proposal__dense-fpsample.yaml", "config_hash": "390d3ee978edb83b", "run": "2026-10-16@c43ea39", "seconds": 199.6},
  {"id": "stage/FineGrasp/proposal/dense-fpsample", "kind": "proposal", "method": "FineGrasp", "option": "proposal=dense-fpsample", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.513x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.78x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5704, 0.7334, 0.778], "loss/angle": [0.9241, 0.9369, 0.986], "loss/depth": [0.4111, 0.4363, 0.942], "loss/score": [0.771, 0.8125, 0.949], "loss/width": [0.4768, 0.3151, 1.513]}, "rise": {"loss/view": -0.016, "loss/angle": -0.034, "loss/depth": -0.046, "loss/score": -0.015, "loss/width": -0.148}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.324, -1.851, -2.289, -2.165], "checked": [13, 4], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__dense-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=dense-fpsample -o stage__FineGrasp__proposal__dense-fpsample.yaml", "config_hash": "efddd3172004c1bc", "run": "2026-10-16@c43ea39", "seconds": 586.0},
  {"id": "stage/GraspNet-baseline/proposal/dense-fpsample", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=dense-fpsample", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3625, 0.3739, 0.97], "loss/view": [0.02996, 0.02976, 1.007], "loss/score": [0.01916, 0.02246, 0.853], "loss/angle": [0.3396, 0.3337, 1.018], "loss/width": [0.01323, 0.01289, 1.027], "loss/tolerance": [0.01926, 0.02008, 0.959]}, "rise": {"loss/objectness": -0.098, "loss/view": -0.034, "loss/score": -0.042, "loss/angle": -0.04, "loss/width": -0.221, "loss/tolerance": -0.356}, "grasps_per_frame": [614, 309, 477, 402], "no_gradient": [], "unchanged": [], "score_median": [0.1658, 0.2251, 0.1213, 0.1662], "checked": [10, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__dense-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=dense-fpsample -o stage__GraspNet-baseline__proposal__dense-fpsample.yaml", "config_hash": "30cca1bdf764e0bb", "run": "2026-10-16@c43ea39", "seconds": 106.6},
  {"id": "stage/Scale-Balanced-Grasp/proposal/dense-fpsample", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=dense-fpsample", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1839, 0.1975, 0.931], "loss/view": [0.08262, 0.08244, 1.002], "loss/score": [0.0129, 0.01418, 0.91], "loss/angle": [0.302, 0.3132, 0.964], "loss/width": [0.01113, 0.01146, 0.972], "loss/tolerance": [0.00691, 0.007067, 0.978]}, "rise": {"loss/objectness": -0.115, "loss/view": -0.01, "loss/score": -0.081, "loss/angle": -0.083, "loss/width": 0.071, "loss/tolerance": -0.354}, "grasps_per_frame": [35, 19, 22, 0], "no_gradient": [], "unchanged": [], "score_median": [0.06766, 0.04555, 0.06753, null], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__dense-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=dense-fpsample -o stage__Scale-Balanced-Grasp__proposal__dense-fpsample.yaml", "config_hash": "ea0fc6b932932bc1", "run": "2026-10-16@c43ea39", "seconds": 135.5},
  {"id": "stage/GSNet/proposal/dense-fusion-fps", "kind": "proposal", "method": "GSNet", "option": "proposal=dense-fusion-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.38x, loss/score 0.34x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.3205, 0.8476, 0.378], "loss/score": [0.01064, 0.0313, 0.34], "loss/width": [0.1051, 0.101, 1.04]}, "rise": {"loss/view": 0.015, "loss/score": -0.08, "loss/width": -0.095}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05053, 0.05007, 0.05259, 0.0555], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__dense-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=dense-fusion-fps -o stage__GSNet__proposal__dense-fusion-fps.yaml", "config_hash": "cba7675c2fa189bc", "run": "2026-10-16@c43ea39", "seconds": 459.1},
  {"id": "stage/EconomicGrasp/proposal/dense-fusion-fps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=dense-fusion-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.6863, 0.8303, 0.827], "loss/angle": [1.67, 1.543, 1.082], "loss/depth": [0.9701, 0.7779, 1.247], "loss/score": [1.453, 1.31, 1.11], "loss/width": [0.5983, 0.5737, 1.043]}, "rise": {"loss/view": -0.002, "loss/angle": 0.016, "loss/depth": 0.032, "loss/score": 0.055, "loss/width": -0.112}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.043, -1.067, -0.9382, -0.8447], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__dense-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=dense-fusion-fps -o stage__EconomicGrasp__proposal__dense-fusion-fps.yaml", "config_hash": "6279ac16398026df", "run": "2026-10-16@c43ea39", "seconds": 421.0},
  {"id": "stage/FineGrasp/proposal/dense-fusion-fps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=dense-fusion-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.560x the reference (tolerance 1.25)", "loss/depth 1.766x the reference (tolerance 1.25)", "loss/score 1.573x the reference (tolerance 1.25)", "loss/width 2.004x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.79x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5804, 0.7334, 0.791], "loss/angle": [1.462, 0.9369, 1.56], "loss/depth": [0.7707, 0.4363, 1.766], "loss/score": [1.278, 0.8125, 1.573], "loss/width": [0.6316, 0.3151, 2.004]}, "rise": {"loss/view": -0.108, "loss/angle": -0.066, "loss/depth": -0.117, "loss/score": -0.053, "loss/width": -0.066}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.879, -2.805, -2.711, -1.412], "checked": [13, 4], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__dense-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=dense-fusion-fps -o stage__FineGrasp__proposal__dense-fusion-fps.yaml", "config_hash": "0e5b4afc46e67eac", "run": "2026-10-16@c43ea39", "seconds": 1078.9},
  {"id": "stage/GraspNet-baseline/proposal/dense-fusion-fps", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=dense-fusion-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.308x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3466, 0.3739, 0.927], "loss/view": [0.02738, 0.02976, 0.92], "loss/score": [0.021, 0.02246, 0.935], "loss/angle": [0.3426, 0.3337, 1.027], "loss/width": [0.01686, 0.01289, 1.308], "loss/tolerance": [0.01809, 0.02008, 0.901]}, "rise": {"loss/objectness": -0.083, "loss/view": -0.023, "loss/score": -0.079, "loss/angle": -0.031, "loss/width": -0.197, "loss/tolerance": -0.306}, "grasps_per_frame": [406, 320, 404, 266], "no_gradient": [], "unchanged": [], "score_median": [0.142, 0.08476, 0.1335, 0.1208], "checked": [10, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__dense-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=dense-fusion-fps -o stage__GraspNet-baseline__proposal__dense-fusion-fps.yaml", "config_hash": "30588dd37cac7402", "run": "2026-10-16@c43ea39", "seconds": 199.0},
  {"id": "stage/Scale-Balanced-Grasp/proposal/dense-fusion-fps", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=dense-fusion-fps", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/tolerance 1.326x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.163, 0.1975, 0.825], "loss/view": [0.08063, 0.08244, 0.978], "loss/score": [0.01332, 0.01418, 0.939], "loss/angle": [0.3071, 0.3132, 0.981], "loss/width": [0.01219, 0.01146, 1.064], "loss/tolerance": [0.009372, 0.007067, 1.326]}, "rise": {"loss/objectness": -0.072, "loss/view": -0.013, "loss/score": 0.012, "loss/angle": -0.071, "loss/width": -0.116, "loss/tolerance": -0.349}, "grasps_per_frame": [199, 143, 145, 44], "no_gradient": [], "unchanged": [], "score_median": [0.01403, 0.01451, 0.02264, 0.03034], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__dense-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=dense-fusion-fps -o stage__Scale-Balanced-Grasp__proposal__dense-fusion-fps.yaml", "config_hash": "dc3850bf4c04fd45", "run": "2026-10-16@c43ea39", "seconds": 270.2},
  {"id": "stage/GSNet/proposal/dense-random", "kind": "proposal", "method": "GSNet", "option": "proposal=dense-random", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.33x, loss/score 0.31x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.2796, 0.8476, 0.33], "loss/score": [0.009801, 0.0313, 0.313], "loss/width": [0.106, 0.101, 1.049]}, "rise": {"loss/view": 0.008, "loss/score": -0.131, "loss/width": -0.101}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04757, 0.05031, 0.04796, 0.05286], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__dense-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=dense-random -o stage__GSNet__proposal__dense-random.yaml", "config_hash": "ea30d4210f22aa49", "run": "2026-10-16@c43ea39", "seconds": 145.0},
  {"id": "stage/EconomicGrasp/proposal/dense-random", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=dense-random", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.70x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5772, 0.8303, 0.695], "loss/angle": [1.466, 1.543, 0.95], "loss/depth": [0.7084, 0.7779, 0.911], "loss/score": [1.261, 1.31, 0.963], "loss/width": [0.655, 0.5737, 1.142]}, "rise": {"loss/view": -0.016, "loss/angle": 0.017, "loss/depth": -0.015, "loss/score": 0.041, "loss/width": -0.057}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.455, -1.404, -1.389, -1.286], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__dense-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=dense-random -o stage__EconomicGrasp__proposal__dense-random.yaml", "config_hash": "2a22f9e39de008a1", "run": "2026-10-16@c43ea39", "seconds": 146.2},
  {"id": "stage/FineGrasp/proposal/dense-random", "kind": "proposal", "method": "FineGrasp", "option": "proposal=dense-random", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.584x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.78x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5734, 0.7334, 0.782], "loss/angle": [1.087, 0.9369, 1.161], "loss/depth": [0.4936, 0.4363, 1.131], "loss/score": [0.9001, 0.8125, 1.108], "loss/width": [0.4992, 0.3151, 1.584]}, "rise": {"loss/view": -0.021, "loss/angle": -0.053, "loss/depth": -0.093, "loss/score": -0.055, "loss/width": -0.134}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.527, -0.9047, -1.346, -1.565], "checked": [13, 4], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__dense-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=dense-random -o stage__FineGrasp__proposal__dense-random.yaml", "config_hash": "5b39a7dd93341cf1", "run": "2026-10-16@c43ea39", "seconds": 574.6},
  {"id": "stage/GraspNet-baseline/proposal/dense-random", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=dense-random", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.78x"], "terms": {"loss/objectness": [0.2934, 0.3739, 0.785], "loss/view": [0.03412, 0.02976, 1.147], "loss/score": [0.02177, 0.02246, 0.969], "loss/angle": [0.3472, 0.3337, 1.04], "loss/width": [0.0151, 0.01289, 1.171], "loss/tolerance": [0.01948, 0.02008, 0.97]}, "rise": {"loss/objectness": -0.148, "loss/view": -0.029, "loss/score": -0.05, "loss/angle": -0.038, "loss/width": -0.201, "loss/tolerance": -0.331}, "grasps_per_frame": [415, 440, 550, 463], "no_gradient": [], "unchanged": [], "score_median": [0.07815, 0.06356, 0.05853, 0.1379], "checked": [10, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__dense-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=dense-random -o stage__GraspNet-baseline__proposal__dense-random.yaml", "config_hash": "94f7a60afefe3dda", "run": "2026-10-16@c43ea39", "seconds": 90.4},
  {"id": "stage/Scale-Balanced-Grasp/proposal/dense-random", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=dense-random", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1659, 0.1975, 0.84], "loss/view": [0.08709, 0.08244, 1.056], "loss/score": [0.01262, 0.01418, 0.89], "loss/angle": [0.3051, 0.3132, 0.974], "loss/width": [0.01225, 0.01146, 1.069], "loss/tolerance": [0.006995, 0.007067, 0.99]}, "rise": {"loss/objectness": -0.186, "loss/view": -0.01, "loss/score": -0.071, "loss/angle": -0.072, "loss/width": -0.006, "loss/tolerance": -0.338}, "grasps_per_frame": [312, 196, 288, 218], "no_gradient": [], "unchanged": [], "score_median": [0.05219, 0.08058, 0.009726, 0.04482], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__dense-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=dense-random -o stage__Scale-Balanced-Grasp__proposal__dense-random.yaml", "config_hash": "0fb853746396d68e", "run": "2026-10-16@c43ea39", "seconds": 131.7},
  {"id": "stage/GSNet/proposal/dense-torch-cluster", "kind": "proposal", "method": "GSNet", "option": "proposal=dense-torch-cluster", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.31x, loss/score 0.26x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.2628, 0.8476, 0.31], "loss/score": [0.008036, 0.0313, 0.257], "loss/width": [0.1193, 0.101, 1.18]}, "rise": {"loss/view": 0.008, "loss/score": -0.122, "loss/width": -0.068}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04486, 0.04798, 0.04948, 0.05918], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__dense-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=dense-torch-cluster -o stage__GSNet__proposal__dense-torch-cluster.yaml", "config_hash": "8b5bdbfed7bcba21", "run": "2026-10-16@c43ea39", "seconds": 171.1},
  {"id": "stage/EconomicGrasp/proposal/dense-torch-cluster", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=dense-torch-cluster", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.69x, loss/angle 0.80x, loss/depth 0.73x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5747, 0.8303, 0.692], "loss/angle": [1.234, 1.543, 0.8], "loss/depth": [0.5709, 0.7779, 0.734], "loss/score": [1.072, 1.31, 0.819], "loss/width": [0.6926, 0.5737, 1.207]}, "rise": {"loss/view": -0.009, "loss/angle": 0.009, "loss/depth": -0.022, "loss/score": 0.021, "loss/width": -0.048}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.307, -1.377, -1.203, -1.099], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__dense-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=dense-torch-cluster -o stage__EconomicGrasp__proposal__dense-torch-cluster.yaml", "config_hash": "b27c7c0ee4360a65", "run": "2026-10-16@c43ea39", "seconds": 196.5},
  {"id": "stage/FineGrasp/proposal/dense-torch-cluster", "kind": "proposal", "method": "FineGrasp", "option": "proposal=dense-torch-cluster", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.511x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.77x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5644, 0.7334, 0.77], "loss/angle": [0.9363, 0.9369, 0.999], "loss/depth": [0.4087, 0.4363, 0.937], "loss/score": [0.7781, 0.8125, 0.958], "loss/width": [0.476, 0.3151, 1.511]}, "rise": {"loss/view": -0.024, "loss/angle": -0.031, "loss/depth": -0.036, "loss/score": -0.023, "loss/width": -0.153}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.064, -3.884, -4.132, -3.997], "checked": [13, 4], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__dense-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=dense-torch-cluster -o stage__FineGrasp__proposal__dense-torch-cluster.yaml", "config_hash": "8e504a74e417b563", "run": "2026-10-16@c43ea39", "seconds": 666.5},
  {"id": "stage/GraspNet-baseline/proposal/dense-torch-cluster", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=dense-torch-cluster", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3682, 0.3739, 0.985], "loss/view": [0.02996, 0.02976, 1.007], "loss/score": [0.02084, 0.02246, 0.928], "loss/angle": [0.3351, 0.3337, 1.004], "loss/width": [0.01333, 0.01289, 1.034], "loss/tolerance": [0.01631, 0.02008, 0.812]}, "rise": {"loss/objectness": -0.091, "loss/view": -0.03, "loss/score": -0.056, "loss/angle": -0.041, "loss/width": -0.212, "loss/tolerance": -0.398}, "grasps_per_frame": [366, 430, 403, 457], "no_gradient": [], "unchanged": [], "score_median": [0.2261, 0.163, 0.2176, 0.185], "checked": [10, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__dense-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=dense-torch-cluster -o stage__GraspNet-baseline__proposal__dense-torch-cluster.yaml", "config_hash": "c1d031351e0d57f6", "run": "2026-10-16@c43ea39", "seconds": 116.1},
  {"id": "stage/Scale-Balanced-Grasp/proposal/dense-torch-cluster", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=dense-torch-cluster", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1778, 0.1975, 0.9], "loss/view": [0.08263, 0.08244, 1.002], "loss/score": [0.01267, 0.01418, 0.893], "loss/angle": [0.3007, 0.3132, 0.96], "loss/width": [0.01043, 0.01146, 0.91], "loss/tolerance": [0.007217, 0.007067, 1.021]}, "rise": {"loss/objectness": -0.135, "loss/view": -0.02, "loss/score": -0.028, "loss/angle": -0.079, "loss/width": -0.064, "loss/tolerance": -0.34}, "grasps_per_frame": [13, 37, 15, 14], "no_gradient": [], "unchanged": [], "score_median": [0.008529, -0.01714, 0.06852, 0.04033], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__dense-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=dense-torch-cluster -o stage__Scale-Balanced-Grasp__proposal__dense-torch-cluster.yaml", "config_hash": "d86a506b397bc0a8", "run": "2026-10-16@c43ea39", "seconds": 151.2},
  {"id": "stage/GSNet/proposal/dense-voxel", "kind": "proposal", "method": "GSNet", "option": "proposal=dense-voxel", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.33x, loss/score 0.26x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.2764, 0.8476, 0.326], "loss/score": [0.008287, 0.0313, 0.265], "loss/width": [0.1225, 0.101, 1.212]}, "rise": {"loss/view": 0.065, "loss/score": -0.129, "loss/width": -0.079}, "grasps_per_frame": [964, 845, 999, 837], "no_gradient": [], "unchanged": [], "score_median": [0.04396, 0.04543, 0.04369, 0.05368], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__dense-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=dense-voxel -o stage__GSNet__proposal__dense-voxel.yaml", "config_hash": "0ba35c56783e9154", "run": "2026-10-16@c43ea39", "seconds": 148.7},
  {"id": "stage/EconomicGrasp/proposal/dense-voxel", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=dense-voxel", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.67x, loss/angle 0.77x, loss/depth 0.76x, loss/score 0.80x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5535, 0.8303, 0.667], "loss/angle": [1.186, 1.543, 0.769], "loss/depth": [0.595, 0.7779, 0.765], "loss/score": [1.041, 1.31, 0.795], "loss/width": [0.6908, 0.5737, 1.204]}, "rise": {"loss/view": -0.013, "loss/angle": -0.015, "loss/depth": 0.005, "loss/score": 0.009, "loss/width": -0.034}, "grasps_per_frame": [979, 861, 1024, 856], "no_gradient": [], "unchanged": [], "score_median": [-1.844, -1.819, -1.842, -1.669], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__dense-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=dense-voxel -o stage__EconomicGrasp__proposal__dense-voxel.yaml", "config_hash": "55e98548bb6a7cb3", "run": "2026-10-16@c43ea39", "seconds": 175.6},
  {"id": "stage/FineGrasp/proposal/dense-voxel", "kind": "proposal", "method": "FineGrasp", "option": "proposal=dense-voxel", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.580x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.73x"], "terms": {"loss/objectness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SampledSeeds for GraspnessFPS)", "loss/view": [0.5349, 0.7334, 0.729], "loss/angle": [0.8666, 0.9369, 0.925], "loss/depth": [0.4029, 0.4363, 0.923], "loss/score": [0.7268, 0.8125, 0.894], "loss/width": [0.498, 0.3151, 1.58]}, "rise": {"loss/view": -0.03, "loss/angle": -0.046, "loss/depth": -0.051, "loss/score": -0.044, "loss/width": -0.104}, "grasps_per_frame": [979, 861, 1024, 856], "no_gradient": [], "unchanged": [], "score_median": [-3.158, -3.06, -3.439, -3.126], "checked": [13, 4], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__dense-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=dense-voxel -o stage__FineGrasp__proposal__dense-voxel.yaml", "config_hash": "d0cebfd3191b0f52", "run": "2026-10-16@c43ea39", "seconds": 580.1},
  {"id": "stage/GraspNet-baseline/proposal/dense-voxel", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=dense-voxel", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3465, 0.3739, 0.927], "loss/view": [0.03171, 0.02976, 1.066], "loss/score": [0.02255, 0.02246, 1.004], "loss/angle": [0.345, 0.3337, 1.034], "loss/width": [0.01493, 0.01289, 1.158], "loss/tolerance": [0.01988, 0.02008, 0.99]}, "rise": {"loss/objectness": -0.122, "loss/view": -0.022, "loss/score": -0.023, "loss/angle": -0.039, "loss/width": -0.226, "loss/tolerance": -0.311}, "grasps_per_frame": [466, 312, 440, 375], "no_gradient": [], "unchanged": [], "score_median": [0.07202, 0.07672, 0.06852, 0.1158], "checked": [10, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__dense-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=dense-voxel -o stage__GraspNet-baseline__proposal__dense-voxel.yaml", "config_hash": "1406a705e4a02f5d", "run": "2026-10-16@c43ea39", "seconds": 100.1},
  {"id": "stage/Scale-Balanced-Grasp/proposal/dense-voxel", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=dense-voxel", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/tolerance 1.694x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1693, 0.1975, 0.857], "loss/view": [0.07967, 0.08244, 0.966], "loss/score": [0.0138, 0.01418, 0.973], "loss/angle": [0.3145, 0.3132, 1.004], "loss/width": [0.01387, 0.01146, 1.211], "loss/tolerance": [0.01197, 0.007067, 1.694]}, "rise": {"loss/objectness": -0.12, "loss/view": -0.031, "loss/score": -0.02, "loss/angle": -0.068, "loss/width": 0.049, "loss/tolerance": -0.216}, "grasps_per_frame": [1, 14, 8, 0], "no_gradient": [], "unchanged": [], "score_median": [0.2482, 0.04652, 0.06722, null], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__dense-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=dense-voxel -o stage__Scale-Balanced-Grasp__proposal__dense-voxel.yaml", "config_hash": "bbc00270075ac6de", "run": "2026-10-16@c43ea39", "seconds": 144.5},
  {"id": "stage/GSNet/proposal/graspness-ffps", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-ffps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1507, 0.1562, 0.965], "loss/graspness": [0.07341, 0.07598, 0.966], "loss/view": [0.8603, 0.8476, 1.015], "loss/score": [0.03454, 0.0313, 1.104], "loss/width": [0.1018, 0.101, 1.007]}, "rise": {"loss/objectness": -0.176, "loss/graspness": -0.367, "loss/view": 0.163, "loss/score": 0.207, "loss/width": -0.089}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07862, 0.07491, 0.07086, 0.08242], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-ffps -o stage__GSNet__proposal__graspness-ffps.yaml", "config_hash": "062dc2aa7d0cbb28", "run": "2026-10-16@c43ea39", "seconds": 378.2},
  {"id": "stage/EconomicGrasp/proposal/graspness-ffps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-ffps", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.77x"], "terms": {"loss/objectness": [0.1186, 0.1259, 0.942], "loss/graspness": [0.04877, 0.06338, 0.769], "loss/view": [0.8802, 0.8303, 1.06], "loss/angle": [1.588, 1.543, 1.029], "loss/depth": [0.8046, 0.7779, 1.034], "loss/score": [1.369, 1.31, 1.045], "loss/width": [0.6295, 0.5737, 1.097]}, "rise": {"loss/objectness": -0.202, "loss/graspness": -0.443, "loss/view": 0.047, "loss/angle": 0.014, "loss/depth": 0.006, "loss/score": 0.033, "loss/width": -0.061}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.985, -1.79, -1.833, -1.513], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-ffps -o stage__EconomicGrasp__proposal__graspness-ffps.yaml", "config_hash": "f341dbb73390c4b7", "run": "2026-10-16@c43ea39", "seconds": 362.6},
  {"id": "stage/FineGrasp/proposal/graspness-ffps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-ffps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09288, 0.08986, 1.034], "loss/graspness": [0.04891, 0.04722, 1.036], "loss/view": [0.7585, 0.7334, 1.034], "loss/angle": [1.05, 0.9369, 1.12], "loss/depth": [0.4782, 0.4363, 1.096], "loss/score": [0.9125, 0.8125, 1.123], "loss/width": [0.3798, 0.3151, 1.205]}, "rise": {"loss/objectness": -0.218, "loss/graspness": -0.416, "loss/view": 0.013, "loss/angle": -0.129, "loss/depth": -0.185, "loss/score": -0.129, "loss/width": -0.253}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.51, -2.638, -3.166, -2.685], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-ffps -o stage__FineGrasp__proposal__graspness-ffps.yaml", "config_hash": "91fe1a68f35d2313", "run": "2026-10-16@c43ea39", "seconds": 1097.4},
  {"id": "stage/GraspNet-baseline/proposal/graspness-ffps", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-ffps", "level1": "runs", "outcome": "diverging", "reasons": ["loss/view rises +13 % over the last half; the reference -4 %", "loss/view 1.851x the reference (tolerance 1.25)", "loss/width 1.387x the reference (tolerance 1.25)", "loss/tolerance 1.299x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4266, 0.3739, 1.141], "loss/view": [0.05509, 0.02976, 1.851], "loss/score": [0.02159, 0.02246, 0.961], "loss/angle": [0.3247, 0.3337, 0.973], "loss/width": [0.01787, 0.01289, 1.387], "loss/tolerance": [0.02609, 0.02008, 1.299], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.067, "loss/view": 0.128, "loss/score": -0.032, "loss/angle": -0.041, "loss/width": -0.129, "loss/tolerance": -0.413, "loss/graspness": -0.122}, "grasps_per_frame": [279, 125, 410, 175], "no_gradient": [], "unchanged": [], "score_median": [0.2127, 0.08137, 0.1371, 0.18], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-ffps -o stage__GraspNet-baseline__proposal__graspness-ffps.yaml", "config_hash": "17613875a551a1af", "run": "2026-10-16@c43ea39", "seconds": 254.8},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-ffps", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-ffps", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.327x the reference (tolerance 1.25)", "loss/tolerance 1.538x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4596, 0.1975, 2.327], "loss/view": [0.09335, 0.08244, 1.132], "loss/score": [0.01322, 0.01418, 0.932], "loss/angle": [0.3023, 0.3132, 0.965], "loss/width": [0.0131, 0.01146, 1.144], "loss/tolerance": [0.01087, 0.007067, 1.538], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": 0.09, "loss/view": 0.011, "loss/score": -0.043, "loss/angle": -0.065, "loss/width": -0.109, "loss/tolerance": -0.263, "loss/graspness": -0.175}, "grasps_per_frame": [37, 216, 5, 92], "no_gradient": [], "unchanged": [], "score_median": [0.01721, 0.01495, 0.04688, -0.01564], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-ffps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-ffps -o stage__Scale-Balanced-Grasp__proposal__graspness-ffps.yaml", "config_hash": "b206483596839edc", "run": "2026-10-16@c43ea39", "seconds": 305.0},
  {"id": "stage/GSNet/proposal/graspness-fps-fill", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-fps-fill", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.158, 0.1562, 1.012], "loss/graspness": [0.07043, 0.07598, 0.927], "loss/view": [0.8513, 0.8476, 1.004], "loss/score": [0.03159, 0.0313, 1.009], "loss/width": [0.09915, 0.101, 0.981]}, "rise": {"loss/objectness": -0.209, "loss/graspness": -0.372, "loss/view": 0.18, "loss/score": 0.156, "loss/width": -0.079}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07013, 0.07754, 0.078, 0.06982], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-fps-fill.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-fps-fill -o stage__GSNet__proposal__graspness-fps-fill.yaml", "config_hash": "11fbd5eb976ffca6", "run": "2026-10-16@c43ea39", "seconds": 155.1},
  {"id": "stage/EconomicGrasp/proposal/graspness-fps-fill", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-fps-fill", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1312, 0.1259, 1.042], "loss/graspness": [0.07523, 0.06338, 1.187], "loss/view": [0.8148, 0.8303, 0.981], "loss/angle": [1.495, 1.543, 0.969], "loss/depth": [0.7582, 0.7779, 0.975], "loss/score": [1.267, 1.31, 0.968], "loss/width": [0.5954, 0.5737, 1.038]}, "rise": {"loss/objectness": -0.137, "loss/graspness": -0.37, "loss/view": 0.024, "loss/angle": 0.017, "loss/depth": 0.007, "loss/score": 0.022, "loss/width": -0.103}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.193, -1.947, -1.725, -0.9821], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-fps-fill.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-fps-fill -o stage__EconomicGrasp__proposal__graspness-fps-fill.yaml", "config_hash": "fc38ded4e4e0e43a", "run": "2026-10-16@c43ea39", "seconds": 177.8},
  {"id": "stage/FineGrasp/proposal/graspness-fps-fill", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-fps-fill", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09182, 0.08986, 1.022], "loss/graspness": [0.04503, 0.04722, 0.954], "loss/view": [0.7417, 0.7334, 1.011], "loss/angle": [0.9181, 0.9369, 0.98], "loss/depth": [0.4318, 0.4363, 0.99], "loss/score": [0.8025, 0.8125, 0.988], "loss/width": [0.3083, 0.3151, 0.979]}, "rise": {"loss/objectness": -0.154, "loss/graspness": -0.303, "loss/view": -0.02, "loss/angle": -0.164, "loss/depth": -0.123, "loss/score": -0.121, "loss/width": -0.234}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.422, -2.527, -3.435, -3.455], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-fps-fill.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-fps-fill -o stage__FineGrasp__proposal__graspness-fps-fill.yaml", "config_hash": "0f4147bb06febe35", "run": "2026-10-16@c43ea39", "seconds": 576.7},
  {"id": "stage/GraspNet-baseline/proposal/graspness-fps-fill", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-fps-fill", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 1.817x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4591, 0.3739, 1.228], "loss/view": [0.05406, 0.02976, 1.817], "loss/score": [0.02067, 0.02246, 0.92], "loss/angle": [0.3263, 0.3337, 0.978], "loss/width": [0.0152, 0.01289, 1.179], "loss/tolerance": [0.02438, 0.02008, 1.214], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.072, "loss/view": 0.095, "loss/score": -0.079, "loss/angle": -0.024, "loss/width": -0.2, "loss/tolerance": -0.36, "loss/graspness": -0.133}, "grasps_per_frame": [454, 395, 593, 632], "no_gradient": [], "unchanged": [], "score_median": [-0.1604, -0.03026, -0.03822, 0.04423], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-fps-fill.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-fps-fill -o stage__GraspNet-baseline__proposal__graspness-fps-fill.yaml", "config_hash": "b5768de62ca4d33a", "run": "2026-10-16@c43ea39", "seconds": 110.2},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-fps-fill", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-fps-fill", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.378x the reference (tolerance 1.25)", "loss/tolerance 1.569x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4696, 0.1975, 2.378], "loss/view": [0.09404, 0.08244, 1.141], "loss/score": [0.01273, 0.01418, 0.898], "loss/angle": [0.2943, 0.3132, 0.939], "loss/width": [0.01136, 0.01146, 0.991], "loss/tolerance": [0.01109, 0.007067, 1.569], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": 0.051, "loss/view": 0.004, "loss/score": -0.048, "loss/angle": -0.073, "loss/width": -0.122, "loss/tolerance": -0.355, "loss/graspness": -0.13}, "grasps_per_frame": [632, 351, 419, 571], "no_gradient": [], "unchanged": [], "score_median": [0.0258, 0.06036, 0.02968, -0.008677], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-fps-fill.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-fps-fill -o stage__Scale-Balanced-Grasp__proposal__graspness-fps-fill.yaml", "config_hash": "3564aed705b10c1d", "run": "2026-10-16@c43ea39", "seconds": 155.2},
  {"id": "stage/GSNet/proposal/graspness-fps-topk", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-fps-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/score 1.354x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1477, 0.1562, 0.946], "loss/graspness": [0.0729, 0.07598, 0.959], "loss/view": [0.8474, 0.8476, 1.0], "loss/score": [0.04237, 0.0313, 1.354], "loss/width": [0.1022, 0.101, 1.011]}, "rise": {"loss/objectness": -0.188, "loss/graspness": -0.275, "loss/view": 0.063, "loss/score": 0.164, "loss/width": -0.041}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08937, 0.08103, 0.08134, 0.07969], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-fps-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-fps-topk -o stage__GSNet__proposal__graspness-fps-topk.yaml", "config_hash": "5cc8793ce3210fef", "run": "2026-10-16@c43ea39", "seconds": 225.6},
  {"id": "stage/EconomicGrasp/proposal/graspness-fps-topk", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-fps-topk", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.13, 0.1259, 1.033], "loss/graspness": [0.07074, 0.06338, 1.116], "loss/view": [0.7481, 0.8303, 0.901], "loss/angle": [1.578, 1.543, 1.022], "loss/depth": [0.9663, 0.7779, 1.242], "loss/score": [1.39, 1.31, 1.061], "loss/width": [0.4966, 0.5737, 0.865]}, "rise": {"loss/objectness": -0.186, "loss/graspness": -0.346, "loss/view": -0.035, "loss/angle": -0.061, "loss/depth": -0.048, "loss/score": -0.03, "loss/width": -0.146}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.8468, 1.499, 1.26, 1.764], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-fps-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-fps-topk -o stage__EconomicGrasp__proposal__graspness-fps-topk.yaml", "config_hash": "edaf26cf9e107ef7", "run": "2026-10-16@c43ea39", "seconds": 256.2},
  {"id": "stage/FineGrasp/proposal/graspness-fps-topk", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-fps-topk", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.76x"], "terms": {"loss/objectness": [0.08748, 0.08986, 0.973], "loss/graspness": [0.04916, 0.04722, 1.041], "loss/view": [0.6956, 0.7334, 0.948], "loss/angle": [0.9038, 0.9369, 0.965], "loss/depth": [0.4486, 0.4363, 1.028], "loss/score": [0.7779, 0.8125, 0.957], "loss/width": [0.24, 0.3151, 0.762]}, "rise": {"loss/objectness": -0.167, "loss/graspness": -0.268, "loss/view": -0.091, "loss/angle": -0.234, "loss/depth": -0.216, "loss/score": -0.194, "loss/width": -0.264}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [1.213, 1.842, 0.631, -1.445], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-fps-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-fps-topk -o stage__FineGrasp__proposal__graspness-fps-topk.yaml", "config_hash": "45d66a31b4e839e8", "run": "2026-10-16@c43ea39", "seconds": 763.1},
  {"id": "stage/GraspNet-baseline/proposal/graspness-fps-topk", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-fps-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 2.744x the reference (tolerance 1.25)", "loss/width 1.377x the reference (tolerance 1.25)", "loss/tolerance 1.791x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4247, 0.3739, 1.136], "loss/view": [0.08164, 0.02976, 2.744], "loss/score": [0.01965, 0.02246, 0.875], "loss/angle": [0.2715, 0.3337, 0.814], "loss/width": [0.01775, 0.01289, 1.377], "loss/tolerance": [0.03596, 0.02008, 1.791], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.03, "loss/view": 0.089, "loss/score": -0.098, "loss/angle": -0.005, "loss/width": -0.206, "loss/tolerance": -0.39, "loss/graspness": -0.071}, "grasps_per_frame": [366, 728, 791, 411], "no_gradient": [], "unchanged": [], "score_median": [-0.06386, -0.1026, -0.2305, -0.3475], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-fps-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-fps-topk -o stage__GraspNet-baseline__proposal__graspness-fps-topk.yaml", "config_hash": "27548bff46ef122a", "run": "2026-10-16@c43ea39", "seconds": 199.7},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-fps-topk", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-fps-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.916x the reference (tolerance 1.25)", "loss/tolerance 2.861x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.77x"], "terms": {"loss/objectness": [0.3783, 0.1975, 1.916], "loss/view": [0.09606, 0.08244, 1.165], "loss/score": [0.01247, 0.01418, 0.879], "loss/angle": [0.2634, 0.3132, 0.841], "loss/width": [0.008874, 0.01146, 0.775], "loss/tolerance": [0.02021, 0.007067, 2.861], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.068, "loss/view": -0.003, "loss/score": -0.161, "loss/angle": -0.055, "loss/width": -0.293, "loss/tolerance": -0.381, "loss/graspness": -0.104}, "grasps_per_frame": [657, 622, 566, 493], "no_gradient": [], "unchanged": [], "score_median": [0.04409, -0.08807, 0.02782, -0.01863], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-fps-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-fps-topk -o stage__Scale-Balanced-Grasp__proposal__graspness-fps-topk.yaml", "config_hash": "46213f72c68c1dae", "run": "2026-10-16@c43ea39", "seconds": 196.2},
  {"id": "stage/GraspNet-baseline/proposal/graspness-fps", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 1.771x the reference (tolerance 1.25)", "loss/width 1.268x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.444, 0.3739, 1.187], "loss/view": [0.05271, 0.02976, 1.771], "loss/score": [0.02073, 0.02246, 0.923], "loss/angle": [0.3265, 0.3337, 0.979], "loss/width": [0.01634, 0.01289, 1.268], "loss/tolerance": [0.02119, 0.02008, 1.055], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.067, "loss/view": 0.068, "loss/score": -0.062, "loss/angle": -0.026, "loss/width": -0.206, "loss/tolerance": -0.338, "loss/graspness": -0.095}, "grasps_per_frame": [446, 352, 458, 643], "no_gradient": [], "unchanged": [], "score_median": [0.1348, 0.06924, 0.1893, 0.09672], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-fps -o stage__GraspNet-baseline__proposal__graspness-fps.yaml", "config_hash": "94a085c2dca6d662", "run": "2026-10-16@c43ea39", "seconds": 108.3},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-fps", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-fps", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.315x the reference (tolerance 1.25)", "loss/tolerance 1.977x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4572, 0.1975, 2.315], "loss/view": [0.09249, 0.08244, 1.122], "loss/score": [0.01272, 0.01418, 0.897], "loss/angle": [0.2939, 0.3132, 0.938], "loss/width": [0.01238, 0.01146, 1.081], "loss/tolerance": [0.01397, 0.007067, 1.977], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": 0.042, "loss/view": 0.001, "loss/score": -0.074, "loss/angle": -0.071, "loss/width": -0.063, "loss/tolerance": -0.236, "loss/graspness": -0.088}, "grasps_per_frame": [525, 459, 315, 267], "no_gradient": [], "unchanged": [], "score_median": [0.05446, 0.05236, 0.04257, 0.03434], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-fps -o stage__Scale-Balanced-Grasp__proposal__graspness-fps.yaml", "config_hash": "46035f8204fb1958", "run": "2026-10-16@c43ea39", "seconds": 156.1},
  {"id": "stage/GSNet/proposal/graspness-fpsample", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-fpsample", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (default of)", "loss/graspness": "its loss is replaced (default of)", "loss/view": [0.8536, 0.8476, 1.007], "loss/score": [0.03033, 0.0313, 0.969], "loss/width": [0.09935, 0.101, 0.983]}, "rise": {"loss/objectness": -0.236, "loss/graspness": -0.379, "loss/view": 0.225, "loss/score": 0.173, "loss/width": -0.07}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06324, 0.0727, 0.06877, 0.07188], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-fpsample -o stage__GSNet__proposal__graspness-fpsample.yaml", "config_hash": "9bf4dd0057d3df6b", "run": "2026-10-16@c43ea39", "seconds": 158.9},
  {"id": "stage/EconomicGrasp/proposal/graspness-fpsample", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-fpsample", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (default of)", "loss/graspness": "its loss is replaced (default of)", "loss/view": [0.8208, 0.8303, 0.989], "loss/angle": [1.58, 1.543, 1.024], "loss/depth": [0.7972, 0.7779, 1.025], "loss/score": [1.33, 1.31, 1.015], "loss/width": [0.577, 0.5737, 1.006]}, "rise": {"loss/objectness": -0.136, "loss/graspness": -0.338, "loss/view": 0.023, "loss/angle": 0.012, "loss/depth": 0.014, "loss/score": 0.02, "loss/width": -0.103}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.533, -1.263, -1.163, -0.8506], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-fpsample -o stage__EconomicGrasp__proposal__graspness-fpsample.yaml", "config_hash": "25e4db2526d95ea7", "run": "2026-10-16@c43ea39", "seconds": 181.0},
  {"id": "stage/FineGrasp/proposal/graspness-fpsample", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-fpsample", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (default of)", "loss/graspness": "its loss is replaced (default of)", "loss/view": [0.74, 0.7334, 1.009], "loss/angle": [0.9912, 0.9369, 1.058], "loss/depth": [0.4539, 0.4363, 1.04], "loss/score": [0.8378, 0.8125, 1.031], "loss/width": [0.327, 0.3151, 1.038]}, "rise": {"loss/objectness": -0.186, "loss/graspness": -0.293, "loss/view": -0.019, "loss/angle": -0.17, "loss/depth": -0.172, "loss/score": -0.154, "loss/width": -0.24}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.486, -1.47, -3.063, -1.949], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-fpsample -o stage__FineGrasp__proposal__graspness-fpsample.yaml", "config_hash": "aeef5c791bfd3673", "run": "2026-10-16@c43ea39", "seconds": 578.5},
  {"id": "stage/GraspNet-baseline/proposal/graspness-fpsample", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-fpsample", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.251x the reference (tolerance 1.25)", "loss/view 1.877x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4675, 0.3739, 1.251], "loss/view": [0.05584, 0.02976, 1.877], "loss/score": [0.02057, 0.02246, 0.916], "loss/angle": [0.3244, 0.3337, 0.972], "loss/width": [0.01358, 0.01289, 1.054], "loss/tolerance": [0.02474, 0.02008, 1.232], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.019, "loss/view": 0.067, "loss/score": -0.082, "loss/angle": -0.04, "loss/width": -0.228, "loss/tolerance": -0.322, "loss/graspness": -0.137}, "grasps_per_frame": [496, 500, 644, 575], "no_gradient": [], "unchanged": [], "score_median": [0.0994, 0.06199, 0.1309, 0.1697], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-fpsample -o stage__GraspNet-baseline__proposal__graspness-fpsample.yaml", "config_hash": "5fbde74e0e9f23e1", "run": "2026-10-16@c43ea39", "seconds": 108.1},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-fpsample", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-fpsample", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.181x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4307, 0.1975, 2.181], "loss/view": [0.09191, 0.08244, 1.115], "loss/score": [0.01253, 0.01418, 0.884], "loss/angle": [0.3057, 0.3132, 0.976], "loss/width": [0.01298, 0.01146, 1.133], "loss/tolerance": [0.00805, 0.007067, 1.139], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": 0.008, "loss/view": 0.005, "loss/score": -0.05, "loss/angle": -0.059, "loss/width": -0.032, "loss/tolerance": -0.311, "loss/graspness": -0.15}, "grasps_per_frame": [609, 599, 448, 344], "no_gradient": [], "unchanged": [], "score_median": [0.07607, 0.06189, 0.06305, 0.06173], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-fpsample.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-fpsample -o stage__Scale-Balanced-Grasp__proposal__graspness-fpsample.yaml", "config_hash": "c3f9dab34ce3ad8e", "run": "2026-10-16@c43ea39", "seconds": 158.5},
  {"id": "stage/GSNet/proposal/graspness-fusion-fps", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-fusion-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1538, 0.1562, 0.985], "loss/graspness": [0.07189, 0.07598, 0.946], "loss/view": [0.8346, 0.8476, 0.985], "loss/score": [0.03085, 0.0313, 0.986], "loss/width": [0.1045, 0.101, 1.034]}, "rise": {"loss/objectness": -0.201, "loss/graspness": -0.356, "loss/view": 0.183, "loss/score": 0.165, "loss/width": -0.067}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07518, 0.07461, 0.07676, 0.07211], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-fusion-fps -o stage__GSNet__proposal__graspness-fusion-fps.yaml", "config_hash": "019cc4a623947bfa", "run": "2026-10-16@c43ea39", "seconds": 395.1},
  {"id": "stage/EconomicGrasp/proposal/graspness-fusion-fps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-fusion-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.76x"], "terms": {"loss/objectness": [0.1183, 0.1259, 0.94], "loss/graspness": [0.04828, 0.06338, 0.762], "loss/view": [0.8771, 0.8303, 1.056], "loss/angle": [1.651, 1.543, 1.07], "loss/depth": [0.8014, 0.7779, 1.03], "loss/score": [1.409, 1.31, 1.076], "loss/width": [0.5835, 0.5737, 1.017]}, "rise": {"loss/objectness": -0.18, "loss/graspness": -0.404, "loss/view": 0.064, "loss/angle": 0.057, "loss/depth": 0.036, "loss/score": 0.064, "loss/width": -0.113}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.978, -1.926, -1.818, -1.566], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-fusion-fps -o stage__EconomicGrasp__proposal__graspness-fusion-fps.yaml", "config_hash": "1866d59c439712e1", "run": "2026-10-16@c43ea39", "seconds": 445.8},
  {"id": "stage/FineGrasp/proposal/graspness-fusion-fps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-fusion-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.304x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.08741, 0.08986, 0.973], "loss/graspness": [0.04515, 0.04722, 0.956], "loss/view": [0.7168, 0.7334, 0.977], "loss/angle": [1.081, 0.9369, 1.153], "loss/depth": [0.5062, 0.4363, 1.16], "loss/score": [0.921, 0.8125, 1.133], "loss/width": [0.4109, 0.3151, 1.304]}, "rise": {"loss/objectness": -0.171, "loss/graspness": -0.262, "loss/view": -0.026, "loss/angle": -0.109, "loss/depth": -0.134, "loss/score": -0.107, "loss/width": -0.112}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.386, -2.569, -3.232, -2.574], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-fusion-fps -o stage__FineGrasp__proposal__graspness-fusion-fps.yaml", "config_hash": "f7586df04f786fee", "run": "2026-10-16@c43ea39", "seconds": 1039.3},
  {"id": "stage/GraspNet-baseline/proposal/graspness-fusion-fps", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-fusion-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 1.693x the reference (tolerance 1.25)", "loss/width 1.294x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4328, 0.3739, 1.158], "loss/view": [0.05038, 0.02976, 1.693], "loss/score": [0.02091, 0.02246, 0.931], "loss/angle": [0.3277, 0.3337, 0.982], "loss/width": [0.01668, 0.01289, 1.294], "loss/tolerance": [0.02154, 0.02008, 1.073], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.062, "loss/view": 0.066, "loss/score": -0.055, "loss/angle": -0.034, "loss/width": -0.133, "loss/tolerance": -0.365, "loss/graspness": -0.105}, "grasps_per_frame": [314, 214, 358, 341], "no_gradient": [], "unchanged": [], "score_median": [0.2556, 0.1781, 0.2417, 0.2016], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-fusion-fps -o stage__GraspNet-baseline__proposal__graspness-fusion-fps.yaml", "config_hash": "6b6f692b205b03ec", "run": "2026-10-16@c43ea39", "seconds": 229.3},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-fusion-fps", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-fusion-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.276x the reference (tolerance 1.25)", "loss/tolerance 1.358x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4495, 0.1975, 2.276], "loss/view": [0.0916, 0.08244, 1.111], "loss/score": [0.0136, 0.01418, 0.959], "loss/angle": [0.2999, 0.3132, 0.958], "loss/width": [0.01212, 0.01146, 1.058], "loss/tolerance": [0.009599, 0.007067, 1.358], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": 0.092, "loss/view": 0.014, "loss/score": -0.059, "loss/angle": -0.063, "loss/width": -0.038, "loss/tolerance": -0.337, "loss/graspness": -0.144}, "grasps_per_frame": [39, 104, 6, 1], "no_gradient": [], "unchanged": [], "score_median": [0.03504, 0.06425, 0.003428, 0.377], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-fusion-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-fusion-fps -o stage__Scale-Balanced-Grasp__proposal__graspness-fusion-fps.yaml", "config_hash": "057f583ba63eb677", "run": "2026-10-16@c43ea39", "seconds": 276.1},
  {"id": "stage/GSNet/proposal/graspness-nms", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-nms", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.272x the reference (tolerance 1.25)", "loss/graspness 1.611x the reference (tolerance 1.25)", "loss/score 1.631x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1987, 0.1562, 1.272], "loss/graspness": [0.1224, 0.07598, 1.611], "loss/view": [0.8515, 0.8476, 1.005], "loss/score": [0.05104, 0.0313, 1.631], "loss/width": [0.119, 0.101, 1.178]}, "rise": {"loss/objectness": -0.265, "loss/graspness": -0.206, "loss/view": 0.036, "loss/score": 0.133, "loss/width": -0.068}, "grasps_per_frame": [387, 287, 404, 257], "no_gradient": [], "unchanged": [], "score_median": [0.0958, 0.09503, 0.09665, 0.1011], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-nms.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-nms -o stage__GSNet__proposal__graspness-nms.yaml", "config_hash": "bd497f31185d18c9", "run": "2026-10-16@c43ea39", "seconds": 506.9},
  {"id": "stage/EconomicGrasp/proposal/graspness-nms", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-nms", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.570x the reference (tolerance 1.25)", "loss/depth 1.464x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1477, 0.1259, 1.173], "loss/graspness": [0.09952, 0.06338, 1.57], "loss/view": [0.6855, 0.8303, 0.826], "loss/angle": [1.756, 1.543, 1.138], "loss/depth": [1.139, 0.7779, 1.464], "loss/score": [1.53, 1.31, 1.168], "loss/width": [0.5903, 0.5737, 1.029]}, "rise": {"loss/objectness": -0.456, "loss/graspness": -0.279, "loss/view": -0.074, "loss/angle": -0.024, "loss/depth": 0.001, "loss/score": 0.031, "loss/width": -0.063}, "grasps_per_frame": [509, 403, 454, 366], "no_gradient": [], "unchanged": [], "score_median": [-2.18, -1.936, -2.296, -1.976], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-nms.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-nms -o stage__EconomicGrasp__proposal__graspness-nms.yaml", "config_hash": "595aa9ecac60f1eb", "run": "2026-10-16@c43ea39", "seconds": 513.0},
  {"id": "stage/FineGrasp/proposal/graspness-nms", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-nms", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.696x the reference (tolerance 1.25)", "loss/graspness 3.847x the reference (tolerance 1.25)", "loss/angle 1.597x the reference (tolerance 1.25)", "loss/depth 2.279x the reference (tolerance 1.25)", "loss/score 1.615x the reference (tolerance 1.25)", "loss/width 2.010x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1524, 0.08986, 1.696], "loss/graspness": [0.1817, 0.04722, 3.847], "loss/view": [0.7695, 0.7334, 1.049], "loss/angle": [1.496, 0.9369, 1.597], "loss/depth": [0.9943, 0.4363, 2.279], "loss/score": [1.312, 0.8125, 1.615], "loss/width": [0.6335, 0.3151, 2.01]}, "rise": {"loss/objectness": -0.073, "loss/graspness": -0.059, "loss/view": -0.001, "loss/angle": 0.015, "loss/depth": 0.05, "loss/score": 0.05, "loss/width": 0.075}, "grasps_per_frame": [645, 445, 559, 425], "no_gradient": [], "unchanged": [], "score_median": [0.632, 0.6387, 0.6359, 0.6307], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-nms.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-nms -o stage__FineGrasp__proposal__graspness-nms.yaml", "config_hash": "5f003189ea484580", "run": "2026-10-16@c43ea39", "seconds": 1160.2},
  {"id": "stage/GraspNet-baseline/proposal/graspness-nms", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-nms", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 2.582x the reference (tolerance 1.25)", "loss/width 3.836x the reference (tolerance 1.25)", "loss/tolerance 7.966x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4375, 0.3739, 1.17], "loss/view": [0.07683, 0.02976, 2.582], "loss/score": [0.02293, 0.02246, 1.021], "loss/angle": [0.3109, 0.3337, 0.932], "loss/width": [0.04945, 0.01289, 3.836], "loss/tolerance": [0.1599, 0.02008, 7.966], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.12, "loss/view": 0.09, "loss/score": -0.139, "loss/angle": -0.078, "loss/width": -0.157, "loss/tolerance": -0.048, "loss/graspness": -0.109}, "grasps_per_frame": [458, 191, 224, 238], "no_gradient": [], "unchanged": [], "score_median": [0.04399, 0.005646, 0.5556, 0.001455], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-nms.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-nms -o stage__GraspNet-baseline__proposal__graspness-nms.yaml", "config_hash": "b7a76007b8874e7b", "run": "2026-10-16@c43ea39", "seconds": 280.8},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-nms", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-nms", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.515x the reference (tolerance 1.25)", "loss/view 1.261x the reference (tolerance 1.25)", "loss/width 2.533x the reference (tolerance 1.25)", "loss/tolerance 5.345x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2991, 0.1975, 1.515], "loss/view": [0.104, 0.08244, 1.261], "loss/score": [0.01581, 0.01418, 1.115], "loss/angle": [0.2723, 0.3132, 0.869], "loss/width": [0.02901, 0.01146, 2.533], "loss/tolerance": [0.03777, 0.007067, 5.345], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.306, "loss/view": 0.043, "loss/score": -0.225, "loss/angle": -0.129, "loss/width": -0.361, "loss/tolerance": -0.443, "loss/graspness": -0.171}, "grasps_per_frame": [191, 267, 262, 286], "no_gradient": [], "unchanged": [], "score_median": [-0.05577, 0.4637, 0.3109, 0.3786], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-nms.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-nms -o stage__Scale-Balanced-Grasp__proposal__graspness-nms.yaml", "config_hash": "0c39d0faccc15ce6", "run": "2026-10-16@c43ea39", "seconds": 329.4},
  {"id": "stage/GSNet/proposal/graspness-random", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-random", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1529, 0.1562, 0.979], "loss/graspness": [0.07667, 0.07598, 1.009], "loss/view": [0.8737, 0.8476, 1.031], "loss/score": [0.03269, 0.0313, 1.044], "loss/width": [0.1002, 0.101, 0.991]}, "rise": {"loss/objectness": -0.258, "loss/graspness": -0.361, "loss/view": 0.141, "loss/score": 0.221, "loss/width": -0.075}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06479, 0.07432, 0.07263, 0.074], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-random -o stage__GSNet__proposal__graspness-random.yaml", "config_hash": "3e55b771dd55f41a", "run": "2026-10-16@c43ea39", "seconds": 148.6},
  {"id": "stage/EconomicGrasp/proposal/graspness-random", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-random", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1227, 0.1259, 0.974], "loss/graspness": [0.05717, 0.06338, 0.902], "loss/view": [0.8716, 0.8303, 1.05], "loss/angle": [1.655, 1.543, 1.072], "loss/depth": [0.8682, 0.7779, 1.116], "loss/score": [1.415, 1.31, 1.08], "loss/width": [0.6453, 0.5737, 1.125]}, "rise": {"loss/objectness": -0.205, "loss/graspness": -0.415, "loss/view": 0.035, "loss/angle": 0.028, "loss/depth": 0.026, "loss/score": 0.053, "loss/width": -0.045}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.227, -1.559, -1.3, -1.424], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-random -o stage__EconomicGrasp__proposal__graspness-random.yaml", "config_hash": "03e51cbd65b7a786", "run": "2026-10-16@c43ea39", "seconds": 176.8},
  {"id": "stage/FineGrasp/proposal/graspness-random", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-random", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08516, 0.08986, 0.948], "loss/graspness": [0.04366, 0.04722, 0.925], "loss/view": [0.7509, 0.7334, 1.024], "loss/angle": [0.9578, 0.9369, 1.022], "loss/depth": [0.4719, 0.4363, 1.081], "loss/score": [0.838, 0.8125, 1.031], "loss/width": [0.31, 0.3151, 0.984]}, "rise": {"loss/objectness": -0.191, "loss/graspness": -0.284, "loss/view": -0.038, "loss/angle": -0.212, "loss/depth": -0.184, "loss/score": -0.174, "loss/width": -0.247}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.557, -1.357, -1.7, -2.36], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-random -o stage__FineGrasp__proposal__graspness-random.yaml", "config_hash": "032be53ccce9e0b9", "run": "2026-10-16@c43ea39", "seconds": 561.6},
  {"id": "stage/GraspNet-baseline/proposal/graspness-random", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-random", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 2.005x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3909, 0.3739, 1.046], "loss/view": [0.05965, 0.02976, 2.005], "loss/score": [0.02124, 0.02246, 0.946], "loss/angle": [0.3237, 0.3337, 0.97], "loss/width": [0.01413, 0.01289, 1.096], "loss/tolerance": [0.02205, 0.02008, 1.098], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.104, "loss/view": 0.037, "loss/score": -0.062, "loss/angle": -0.045, "loss/width": -0.271, "loss/tolerance": -0.352, "loss/graspness": -0.108}, "grasps_per_frame": [285, 263, 485, 441], "no_gradient": [], "unchanged": [], "score_median": [0.02738, 0.1064, -0.0118, 0.1269], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-random -o stage__GraspNet-baseline__proposal__graspness-random.yaml", "config_hash": "b666ea68baf547be", "run": "2026-10-16@c43ea39", "seconds": 120.9},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-random", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-random", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.244x the reference (tolerance 1.25)", "loss/width 1.286x the reference (tolerance 1.25)", "loss/tolerance 1.597x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4432, 0.1975, 2.244], "loss/view": [0.09524, 0.08244, 1.155], "loss/score": [0.01292, 0.01418, 0.911], "loss/angle": [0.3047, 0.3132, 0.973], "loss/width": [0.01473, 0.01146, 1.286], "loss/tolerance": [0.01128, 0.007067, 1.597], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": 0.05, "loss/view": 0.011, "loss/score": -0.022, "loss/angle": -0.075, "loss/width": 0.036, "loss/tolerance": -0.38, "loss/graspness": -0.081}, "grasps_per_frame": [589, 588, 624, 578], "no_gradient": [], "unchanged": [], "score_median": [-0.02048, -0.01849, 0.03956, -0.04522], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-random.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-random -o stage__Scale-Balanced-Grasp__proposal__graspness-random.yaml", "config_hash": "a42ac1da312bb7b9", "run": "2026-10-16@c43ea39", "seconds": 160.3},
  {"id": "stage/GSNet/proposal/graspness-sfps", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-sfps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1522, 0.1562, 0.975], "loss/graspness": [0.07162, 0.07598, 0.943], "loss/view": [0.8619, 0.8476, 1.017], "loss/score": [0.03671, 0.0313, 1.173], "loss/width": [0.09908, 0.101, 0.981]}, "rise": {"loss/objectness": -0.2, "loss/graspness": -0.385, "loss/view": 0.15, "loss/score": 0.307, "loss/width": -0.084}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06684, 0.06751, 0.06537, 0.06036], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-sfps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-sfps -o stage__GSNet__proposal__graspness-sfps.yaml", "config_hash": "1a8cdb6139be8f91", "run": "2026-10-16@c43ea39", "seconds": 466.5},
  {"id": "stage/EconomicGrasp/proposal/graspness-sfps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-sfps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1184, 0.1259, 0.941], "loss/graspness": [0.05457, 0.06338, 0.861], "loss/view": [0.825, 0.8303, 0.994], "loss/angle": [1.693, 1.543, 1.097], "loss/depth": [0.9443, 0.7779, 1.214], "loss/score": [1.468, 1.31, 1.121], "loss/width": [0.5738, 0.5737, 1.0]}, "rise": {"loss/objectness": -0.184, "loss/graspness": -0.413, "loss/view": 0.008, "loss/angle": 0.067, "loss/depth": 0.071, "loss/score": 0.092, "loss/width": -0.138}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.8645, -0.9748, -0.9824, -0.4934], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-sfps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-sfps -o stage__EconomicGrasp__proposal__graspness-sfps.yaml", "config_hash": "21f3efffd5d72433", "run": "2026-10-16@c43ea39", "seconds": 465.2},
  {"id": "stage/FineGrasp/proposal/graspness-sfps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-sfps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08384, 0.08986, 0.933], "loss/graspness": [0.04565, 0.04722, 0.967], "loss/view": [0.7533, 0.7334, 1.027], "loss/angle": [0.9219, 0.9369, 0.984], "loss/depth": [0.4526, 0.4363, 1.037], "loss/score": [0.8143, 0.8125, 1.002], "loss/width": [0.269, 0.3151, 0.854]}, "rise": {"loss/objectness": -0.187, "loss/graspness": -0.29, "loss/view": -0.045, "loss/angle": -0.207, "loss/depth": -0.169, "loss/score": -0.159, "loss/width": -0.262}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.6304, -0.03588, -0.2196, -0.8627], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-sfps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-sfps -o stage__FineGrasp__proposal__graspness-sfps.yaml", "config_hash": "3adaf902b16f4edb", "run": "2026-10-16@c43ea39", "seconds": 1116.4},
  {"id": "stage/GraspNet-baseline/proposal/graspness-sfps", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-sfps", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 2.101x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4353, 0.3739, 1.164], "loss/view": [0.06251, 0.02976, 2.101], "loss/score": [0.0199, 0.02246, 0.886], "loss/angle": [0.3014, 0.3337, 0.903], "loss/width": [0.01353, 0.01289, 1.05], "loss/tolerance": [0.02414, 0.02008, 1.203], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.061, "loss/view": 0.082, "loss/score": -0.071, "loss/angle": -0.025, "loss/width": -0.288, "loss/tolerance": -0.403, "loss/graspness": -0.121}, "grasps_per_frame": [291, 561, 161, 425], "no_gradient": [], "unchanged": [], "score_median": [0.007633, 0.0367, 0.0431, 0.1166], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-sfps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-sfps -o stage__GraspNet-baseline__proposal__graspness-sfps.yaml", "config_hash": "4a68b6a1636a3767", "run": "2026-10-16@c43ea39", "seconds": 191.5},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-sfps", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-sfps", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.125x the reference (tolerance 1.25)", "loss/tolerance 1.529x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4197, 0.1975, 2.125], "loss/view": [0.09197, 0.08244, 1.116], "loss/score": [0.01324, 0.01418, 0.933], "loss/angle": [0.2924, 0.3132, 0.934], "loss/width": [0.01007, 0.01146, 0.879], "loss/tolerance": [0.01081, 0.007067, 1.529], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.072, "loss/view": -0.012, "loss/score": -0.09, "loss/angle": -0.052, "loss/width": -0.139, "loss/tolerance": -0.242, "loss/graspness": -0.181}, "grasps_per_frame": [526, 441, 560, 564], "no_gradient": [], "unchanged": [], "score_median": [0.06067, 0.06541, 0.1048, 0.05198], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-sfps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-sfps -o stage__Scale-Balanced-Grasp__proposal__graspness-sfps.yaml", "config_hash": "2c3e0daee37c28ec", "run": "2026-10-16@c43ea39", "seconds": 236.3},
  {"id": "stage/GSNet/proposal/graspness-top-fraction", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-top-fraction", "level1": "runs", "outcome": "worse", "reasons": ["loss/score 1.376x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1473, 0.1562, 0.943], "loss/graspness": [0.07973, 0.07598, 1.049], "loss/view": [0.9319, 0.8476, 1.099], "loss/score": [0.04307, 0.0313, 1.376], "loss/width": [0.1025, 0.101, 1.015]}, "rise": {"loss/objectness": -0.184, "loss/graspness": -0.285, "loss/view": 0.039, "loss/score": 0.121, "loss/width": -0.108}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06978, 0.07865, 0.07625, 0.08444], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-top-fraction.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-top-fraction -o stage__GSNet__proposal__graspness-top-fraction.yaml", "config_hash": "0d7a1f4e44c9eaba", "run": "2026-10-16@c43ea39", "seconds": 140.1},
  {"id": "stage/EconomicGrasp/proposal/graspness-top-fraction", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-top-fraction", "level1": "runs", "outcome": "worse", "reasons": ["loss/depth 1.424x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.115, 0.1259, 0.914], "loss/graspness": [0.05796, 0.06338, 0.914], "loss/view": [0.7191, 0.8303, 0.866], "loss/angle": [1.747, 1.543, 1.132], "loss/depth": [1.107, 0.7779, 1.424], "loss/score": [1.545, 1.31, 1.18], "loss/width": [0.5955, 0.5737, 1.038]}, "rise": {"loss/objectness": -0.224, "loss/graspness": -0.413, "loss/view": -0.136, "loss/angle": -0.006, "loss/depth": 0.063, "loss/score": 0.047, "loss/width": -0.1}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.503, -1.08, -1.306, -1.036], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-top-fraction.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-top-fraction -o stage__EconomicGrasp__proposal__graspness-top-fraction.yaml", "config_hash": "ac407ce8ed3c723e", "run": "2026-10-16@c43ea39", "seconds": 160.2},
  {"id": "stage/FineGrasp/proposal/graspness-top-fraction", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-top-fraction", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.75x"], "terms": {"loss/objectness": [0.07862, 0.08986, 0.875], "loss/graspness": [0.04452, 0.04722, 0.943], "loss/view": [0.7371, 0.7334, 1.005], "loss/angle": [0.9414, 0.9369, 1.005], "loss/depth": [0.4754, 0.4363, 1.09], "loss/score": [0.8261, 0.8125, 1.017], "loss/width": [0.2376, 0.3151, 0.754]}, "rise": {"loss/objectness": -0.205, "loss/graspness": -0.328, "loss/view": -0.121, "loss/angle": -0.248, "loss/depth": -0.233, "loss/score": -0.217, "loss/width": -0.31}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.6414, 1.284, 0.8512, -1.542], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-top-fraction.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-top-fraction -o stage__FineGrasp__proposal__graspness-top-fraction.yaml", "config_hash": "c7890f0d22f9f5a0", "run": "2026-10-16@c43ea39", "seconds": 561.6},
  {"id": "stage/GraspNet-baseline/proposal/graspness-top-fraction", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-top-fraction", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 2.719x the reference (tolerance 1.25)", "loss/width 1.316x the reference (tolerance 1.25)", "loss/tolerance 1.999x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3645, 0.3739, 0.975], "loss/view": [0.08092, 0.02976, 2.719], "loss/score": [0.01973, 0.02246, 0.878], "loss/angle": [0.288, 0.3337, 0.863], "loss/width": [0.01697, 0.01289, 1.316], "loss/tolerance": [0.04013, 0.02008, 1.999], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.093, "loss/view": 0.001, "loss/score": -0.029, "loss/angle": 0.012, "loss/width": -0.122, "loss/tolerance": -0.185, "loss/graspness": -0.076}, "grasps_per_frame": [620, 235, 684, 756], "no_gradient": [], "unchanged": [], "score_median": [0.06609, 0.1237, -0.03954, 0.003361], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-top-fraction.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-top-fraction -o stage__GraspNet-baseline__proposal__graspness-top-fraction.yaml", "config_hash": "baf1f3acb069c7dc", "run": "2026-10-16@c43ea39", "seconds": 98.5},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-top-fraction", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-top-fraction", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.538x the reference (tolerance 1.25)", "loss/tolerance 3.695x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.5013, 0.1975, 2.538], "loss/view": [0.09521, 0.08244, 1.155], "loss/score": [0.01445, 0.01418, 1.019], "loss/angle": [0.3065, 0.3132, 0.979], "loss/width": [0.01184, 0.01146, 1.033], "loss/tolerance": [0.02611, 0.007067, 3.695], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.07, "loss/view": -0.017, "loss/score": -0.078, "loss/angle": -0.007, "loss/width": -0.246, "loss/tolerance": -0.342, "loss/graspness": -0.114}, "grasps_per_frame": [862, 802, 830, 1011], "no_gradient": [], "unchanged": [], "score_median": [0.1488, -0.01789, 0.1003, 0.2313], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-top-fraction.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-top-fraction -o stage__Scale-Balanced-Grasp__proposal__graspness-top-fraction.yaml", "config_hash": "a0f9529bf188ca18", "run": "2026-10-16@c43ea39", "seconds": 143.9},
  {"id": "stage/GSNet/proposal/graspness-topk", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/score 1.561x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1472, 0.1562, 0.943], "loss/graspness": [0.07821, 0.07598, 1.029], "loss/view": [0.9287, 0.8476, 1.096], "loss/score": [0.04885, 0.0313, 1.561], "loss/width": [0.1254, 0.101, 1.241]}, "rise": {"loss/objectness": -0.177, "loss/graspness": -0.294, "loss/view": 0.006, "loss/score": 0.123, "loss/width": 0.006}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08538, 0.07966, 0.09376, 0.1001], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-topk -o stage__GSNet__proposal__graspness-topk.yaml", "config_hash": "2aca9db161196d42", "run": "2026-10-16@c43ea39", "seconds": 135.4},
  {"id": "stage/EconomicGrasp/proposal/graspness-topk", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/depth 1.479x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1265, 0.1259, 1.005], "loss/graspness": [0.07338, 0.06338, 1.158], "loss/view": [0.7989, 0.8303, 0.962], "loss/angle": [1.814, 1.543, 1.176], "loss/depth": [1.151, 0.7779, 1.479], "loss/score": [1.568, 1.31, 1.197], "loss/width": [0.6074, 0.5737, 1.059]}, "rise": {"loss/objectness": -0.339, "loss/graspness": -0.389, "loss/view": -0.079, "loss/angle": -0.009, "loss/depth": 0.046, "loss/score": 0.029, "loss/width": -0.048}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.8689, -0.8402, -0.4807, -1.126], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-topk -o stage__EconomicGrasp__proposal__graspness-topk.yaml", "config_hash": "ec6dab89825ec4c7", "run": "2026-10-16@c43ea39", "seconds": 135.7},
  {"id": "stage/FineGrasp/proposal/graspness-topk", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.386x the reference (tolerance 1.25)", "loss/depth 1.641x the reference (tolerance 1.25)", "loss/score 1.361x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.08056, 0.08986, 0.896], "loss/graspness": [0.05065, 0.04722, 1.073], "loss/view": [0.5968, 0.7334, 0.814], "loss/angle": [1.299, 0.9369, 1.386], "loss/depth": [0.7159, 0.4363, 1.641], "loss/score": [1.106, 0.8125, 1.361], "loss/width": [0.3284, 0.3151, 1.042]}, "rise": {"loss/objectness": -0.062, "loss/graspness": -0.203, "loss/view": -0.088, "loss/angle": -0.136, "loss/depth": -0.191, "loss/score": -0.16, "loss/width": -0.374}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.04863, -0.363, -0.3255, -0.8599], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-topk -o stage__FineGrasp__proposal__graspness-topk.yaml", "config_hash": "1c384f9cdcbe1307", "run": "2026-10-16@c43ea39", "seconds": 564.9},
  {"id": "stage/GraspNet-baseline/proposal/graspness-topk", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 3.059x the reference (tolerance 1.25)", "loss/width 1.762x the reference (tolerance 1.25)", "loss/tolerance 2.257x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4018, 0.3739, 1.075], "loss/view": [0.09102, 0.02976, 3.059], "loss/score": [0.01918, 0.02246, 0.854], "loss/angle": [0.2688, 0.3337, 0.805], "loss/width": [0.02271, 0.01289, 1.762], "loss/tolerance": [0.04532, 0.02008, 2.257], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.13, "loss/view": 0.004, "loss/score": -0.104, "loss/angle": -0.091, "loss/width": -0.361, "loss/tolerance": -0.437, "loss/graspness": -0.091}, "grasps_per_frame": [1024, 0, 568, 159], "no_gradient": [], "unchanged": [], "score_median": [0.009069, null, 0.1044, -0.07985], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-topk -o stage__GraspNet-baseline__proposal__graspness-topk.yaml", "config_hash": "4a0e76e9eb1e2bdc", "run": "2026-10-16@c43ea39", "seconds": 94.4},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-topk", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.196x the reference (tolerance 1.25)", "loss/width 1.292x the reference (tolerance 1.25)", "loss/tolerance 4.076x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4337, 0.1975, 2.196], "loss/view": [0.09893, 0.08244, 1.2], "loss/score": [0.01175, 0.01418, 0.828], "loss/angle": [0.2688, 0.3132, 0.858], "loss/width": [0.0148, 0.01146, 1.292], "loss/tolerance": [0.0288, 0.007067, 4.076], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.14, "loss/view": 0.005, "loss/score": -0.176, "loss/angle": -0.049, "loss/width": -0.28, "loss/tolerance": -0.363, "loss/graspness": -0.138}, "grasps_per_frame": [0, 822, 883, 907], "no_gradient": [], "unchanged": [], "score_median": [null, -0.4933, -0.2985, -0.1156], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-topk -o stage__Scale-Balanced-Grasp__proposal__graspness-topk.yaml", "config_hash": "c3db45daf47ed346", "run": "2026-10-16@c43ea39", "seconds": 131.6},
  {"id": "stage/GSNet/proposal/graspness-torch-cluster", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-torch-cluster", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (default of)", "loss/graspness": "its loss is replaced (default of)", "loss/view": [0.8505, 0.8476, 1.003], "loss/score": [0.03203, 0.0313, 1.023], "loss/width": [0.1002, 0.101, 0.992]}, "rise": {"loss/objectness": -0.215, "loss/graspness": -0.371, "loss/view": 0.191, "loss/score": 0.216, "loss/width": -0.074}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07123, 0.07247, 0.07308, 0.07549], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-torch-cluster -o stage__GSNet__proposal__graspness-torch-cluster.yaml", "config_hash": "8fcbb98bad8ab23b", "run": "2026-10-16@c43ea39", "seconds": 151.4},
  {"id": "stage/EconomicGrasp/proposal/graspness-torch-cluster", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-torch-cluster", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (default of)", "loss/graspness": "its loss is replaced (default of)", "loss/view": [0.8303, 0.8303, 1.0], "loss/angle": [1.538, 1.543, 0.997], "loss/depth": [0.7802, 0.7779, 1.003], "loss/score": [1.303, 1.31, 0.995], "loss/width": [0.5666, 0.5737, 0.988]}, "rise": {"loss/objectness": -0.109, "loss/graspness": -0.31, "loss/view": 0.024, "loss/angle": 0.043, "loss/depth": 0.036, "loss/score": 0.04, "loss/width": -0.137}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.6343, 0.2016, 0.1636, 0.6283], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-torch-cluster -o stage__EconomicGrasp__proposal__graspness-torch-cluster.yaml", "config_hash": "9f724ca046ad43b8", "run": "2026-10-16@c43ea39", "seconds": 150.5},
  {"id": "stage/FineGrasp/proposal/graspness-torch-cluster", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-torch-cluster", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (default of)", "loss/graspness": "its loss is replaced (default of)", "loss/view": [0.7402, 0.7334, 1.009], "loss/angle": [0.9267, 0.9369, 0.989], "loss/depth": [0.4352, 0.4363, 0.997], "loss/score": [0.8091, 0.8125, 0.996], "loss/width": [0.3189, 0.3151, 1.012]}, "rise": {"loss/objectness": -0.156, "loss/graspness": -0.244, "loss/view": -0.023, "loss/angle": -0.18, "loss/depth": -0.154, "loss/score": -0.145, "loss/width": -0.224}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.167, -0.8728, -2.206, -1.858], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-torch-cluster -o stage__FineGrasp__proposal__graspness-torch-cluster.yaml", "config_hash": "afe6b3d4e8f676a5", "run": "2026-10-16@c43ea39", "seconds": 579.9},
  {"id": "stage/GraspNet-baseline/proposal/graspness-torch-cluster", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-torch-cluster", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 1.887x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.445, 0.3739, 1.19], "loss/view": [0.05616, 0.02976, 1.887], "loss/score": [0.02095, 0.02246, 0.933], "loss/angle": [0.3259, 0.3337, 0.977], "loss/width": [0.01404, 0.01289, 1.089], "loss/tolerance": [0.02266, 0.02008, 1.129], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.057, "loss/view": 0.091, "loss/score": -0.019, "loss/angle": -0.042, "loss/width": -0.172, "loss/tolerance": -0.372, "loss/graspness": -0.112}, "grasps_per_frame": [596, 502, 506, 696], "no_gradient": [], "unchanged": [], "score_median": [-0.09084, -0.004277, -0.0688, 0.09101], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-torch-cluster -o stage__GraspNet-baseline__proposal__graspness-torch-cluster.yaml", "config_hash": "e2f3bb3c7b04bc5c", "run": "2026-10-16@c43ea39", "seconds": 105.0},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-torch-cluster", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-torch-cluster", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.259x the reference (tolerance 1.25)", "loss/tolerance 1.573x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4462, 0.1975, 2.259], "loss/view": [0.09344, 0.08244, 1.133], "loss/score": [0.01294, 0.01418, 0.912], "loss/angle": [0.2915, 0.3132, 0.931], "loss/width": [0.01282, 0.01146, 1.119], "loss/tolerance": [0.01111, 0.007067, 1.573], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": 0.04, "loss/view": 0.009, "loss/score": -0.069, "loss/angle": -0.091, "loss/width": 0.055, "loss/tolerance": -0.266, "loss/graspness": -0.201}, "grasps_per_frame": [487, 495, 518, 480], "no_gradient": [], "unchanged": [], "score_median": [0.02118, 0.0009608, 0.01774, 0.001105], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-torch-cluster.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-torch-cluster -o stage__Scale-Balanced-Grasp__proposal__graspness-torch-cluster.yaml", "config_hash": "0cde0b769a6b3384", "run": "2026-10-16@c43ea39", "seconds": 147.1},
  {"id": "stage/GSNet/proposal/graspness-voxel", "kind": "proposal", "method": "GSNet", "option": "proposal=graspness-voxel", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.415x the reference (tolerance 1.25)", "loss/width 1.279x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1803, 0.1562, 1.154], "loss/graspness": [0.1075, 0.07598, 1.415], "loss/view": [0.7137, 0.8476, 0.842], "loss/score": [0.02675, 0.0313, 0.855], "loss/width": [0.1292, 0.101, 1.279]}, "rise": {"loss/objectness": -0.209, "loss/graspness": -0.249, "loss/view": 0.122, "loss/score": 0.097, "loss/width": -0.119}, "grasps_per_frame": [710, 582, 670, 384], "no_gradient": [], "unchanged": [], "score_median": [0.06795, 0.07336, 0.06962, 0.07482], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__graspness-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=graspness-voxel -o stage__GSNet__proposal__graspness-voxel.yaml", "config_hash": "3ef799fcc02eddc9", "run": "2026-10-16@c43ea39", "seconds": 211.4},
  {"id": "stage/EconomicGrasp/proposal/graspness-voxel", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=graspness-voxel", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.255x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1325, 0.1259, 1.052], "loss/graspness": [0.06459, 0.06338, 1.019], "loss/view": [0.7497, 0.8303, 0.903], "loss/angle": [1.447, 1.543, 0.938], "loss/depth": [0.7238, 0.7779, 0.93], "loss/score": [1.262, 1.31, 0.963], "loss/width": [0.7202, 0.5737, 1.255]}, "rise": {"loss/objectness": -0.115, "loss/graspness": -0.406, "loss/view": -0.026, "loss/angle": -0.0, "loss/depth": 0.008, "loss/score": 0.026, "loss/width": -0.028}, "grasps_per_frame": [995, 1004, 1024, 902], "no_gradient": [], "unchanged": [], "score_median": [-2.246, -2.258, -2.007, -2.129], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__graspness-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=graspness-voxel -o stage__EconomicGrasp__proposal__graspness-voxel.yaml", "config_hash": "70a8897672a76298", "run": "2026-10-16@c43ea39", "seconds": 199.6},
  {"id": "stage/FineGrasp/proposal/graspness-voxel", "kind": "proposal", "method": "FineGrasp", "option": "proposal=graspness-voxel", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.270x the reference (tolerance 1.25)", "loss/graspness 1.418x the reference (tolerance 1.25)", "loss/width 1.554x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1141, 0.08986, 1.27], "loss/graspness": [0.06698, 0.04722, 1.418], "loss/view": [0.6824, 0.7334, 0.93], "loss/angle": [1.077, 0.9369, 1.15], "loss/depth": [0.4951, 0.4363, 1.135], "loss/score": [0.906, 0.8125, 1.115], "loss/width": [0.4897, 0.3151, 1.554]}, "rise": {"loss/objectness": -0.106, "loss/graspness": -0.154, "loss/view": -0.047, "loss/angle": -0.064, "loss/depth": -0.102, "loss/score": -0.079, "loss/width": -0.093}, "grasps_per_frame": [941, 766, 834, 638], "no_gradient": [], "unchanged": [], "score_median": [-2.031, -1.695, -1.913, -2.051], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__graspness-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=graspness-voxel -o stage__FineGrasp__proposal__graspness-voxel.yaml", "config_hash": "eff586bde547730f", "run": "2026-10-16@c43ea39", "seconds": 681.0},
  {"id": "stage/GraspNet-baseline/proposal/graspness-voxel", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=graspness-voxel", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 1.789x the reference (tolerance 1.25)", "loss/width 1.407x the reference (tolerance 1.25)", "loss/tolerance 1.512x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4558, 0.3739, 1.219], "loss/view": [0.05323, 0.02976, 1.789], "loss/score": [0.02151, 0.02246, 0.958], "loss/angle": [0.3363, 0.3337, 1.008], "loss/width": [0.01814, 0.01289, 1.407], "loss/tolerance": [0.03036, 0.02008, 1.512], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.047, "loss/view": 0.092, "loss/score": -0.016, "loss/angle": -0.024, "loss/width": -0.207, "loss/tolerance": -0.311, "loss/graspness": -0.134}, "grasps_per_frame": [455, 301, 519, 224], "no_gradient": [], "unchanged": [], "score_median": [-0.01462, 0.02708, 0.06343, 0.1013], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__graspness-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=graspness-voxel -o stage__GraspNet-baseline__proposal__graspness-voxel.yaml", "config_hash": "1df849599b236e01", "run": "2026-10-16@c43ea39", "seconds": 180.4},
  {"id": "stage/Scale-Balanced-Grasp/proposal/graspness-voxel", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=graspness-voxel", "level1": "runs-empty", "outcome": "diverging", "reasons": ["loss/width rises +34 % over the last half; the reference +14 %", "loss/objectness 2.107x the reference (tolerance 1.25)", "loss/width 1.885x the reference (tolerance 1.25)", "loss/tolerance 2.777x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4161, 0.1975, 2.107], "loss/view": [0.09603, 0.08244, 1.165], "loss/score": [0.01313, 0.01418, 0.926], "loss/angle": [0.3098, 0.3132, 0.989], "loss/width": [0.02159, 0.01146, 1.885], "loss/tolerance": [0.01962, 0.007067, 2.777], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.056, "loss/view": 0.007, "loss/score": -0.019, "loss/angle": -0.058, "loss/width": 0.342, "loss/tolerance": -0.034, "loss/graspness": -0.084}, "grasps_per_frame": [804, 638, 632, 355], "no_gradient": [], "unchanged": [], "score_median": [0.07042, 0.08046, 0.05672, 0.07354], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__graspness-voxel.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=graspness-voxel -o stage__Scale-Balanced-Grasp__proposal__graspness-voxel.yaml", "config_hash": "ac2eb5588d839711", "run": "2026-10-16@c43ea39", "seconds": 225.4},
  {"id": "stage/GSNet/proposal/objectness-fps", "kind": "proposal", "method": "GSNet", "option": "proposal=objectness-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.38x, loss/score 0.37x"], "terms": {"loss/objectness": [0.1595, 0.1562, 1.021], "loss/graspness": [0.08379, 0.07598, 1.103], "loss/view": [0.3203, 0.8476, 0.378], "loss/score": [0.01171, 0.0313, 0.374], "loss/width": [0.1052, 0.101, 1.041]}, "rise": {"loss/objectness": -0.293, "loss/graspness": -0.375, "loss/view": -0.063, "loss/score": -0.103, "loss/width": -0.069}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04878, 0.055, 0.05311, 0.06004], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__objectness-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=objectness-fps -o stage__GSNet__proposal__objectness-fps.yaml", "config_hash": "fc49959a4f65eaec", "run": "2026-10-16@c43ea39", "seconds": 143.3},
  {"id": "stage/EconomicGrasp/proposal/objectness-fps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=objectness-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.72x, loss/angle 0.78x, loss/depth 0.72x, loss/score 0.79x"], "terms": {"loss/objectness": [0.1358, 0.1259, 1.079], "loss/graspness": [0.07275, 0.06338, 1.148], "loss/view": [0.6012, 0.8303, 0.724], "loss/angle": [1.203, 1.543, 0.78], "loss/depth": [0.5596, 0.7779, 0.719], "loss/score": [1.029, 1.31, 0.786], "loss/width": [0.6061, 0.5737, 1.056]}, "rise": {"loss/objectness": -0.069, "loss/graspness": -0.298, "loss/view": -0.022, "loss/angle": -0.041, "loss/depth": -0.067, "loss/score": -0.048, "loss/width": -0.089}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.927, -3.444, -3.763, -3.407], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__objectness-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=objectness-fps -o stage__EconomicGrasp__proposal__objectness-fps.yaml", "config_hash": "f23fb66e571bbadf", "run": "2026-10-16@c43ea39", "seconds": 147.8},
  {"id": "stage/FineGrasp/proposal/objectness-fps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=objectness-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.285x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.78x"], "terms": {"loss/objectness": [0.1037, 0.08986, 1.154], "loss/graspness": [0.05204, 0.04722, 1.102], "loss/view": [0.5693, 0.7334, 0.776], "loss/angle": [0.9591, 0.9369, 1.024], "loss/depth": [0.4188, 0.4363, 0.96], "loss/score": [0.8094, 0.8125, 0.996], "loss/width": [0.405, 0.3151, 1.285]}, "rise": {"loss/objectness": -0.116, "loss/graspness": -0.251, "loss/view": -0.02, "loss/angle": -0.077, "loss/depth": -0.089, "loss/score": -0.07, "loss/width": -0.146}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.155, -4.159, -4.274, -4.318], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__objectness-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=objectness-fps -o stage__FineGrasp__proposal__objectness-fps.yaml", "config_hash": "2fa78aa936b56a26", "run": "2026-10-16@c43ea39", "seconds": 584.6},
  {"id": "stage/GSNet/proposal/product-fps", "kind": "proposal", "method": "GSNet", "option": "proposal=product-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1565, 0.1562, 1.002], "loss/graspness": [0.07902, 0.07598, 1.04], "loss/view": [0.8534, 0.8476, 1.007], "loss/score": [0.03298, 0.0313, 1.054], "loss/width": [0.09879, 0.101, 0.978]}, "rise": {"loss/objectness": -0.228, "loss/graspness": -0.333, "loss/view": 0.153, "loss/score": 0.186, "loss/width": -0.089}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07845, 0.07579, 0.07789, 0.08222], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__product-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=product-fps -o stage__GSNet__proposal__product-fps.yaml", "config_hash": "bae79b84085a3e16", "run": "2026-10-16@c43ea39", "seconds": 137.8},
  {"id": "stage/EconomicGrasp/proposal/product-fps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=product-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1226, 0.1259, 0.974], "loss/graspness": [0.05657, 0.06338, 0.893], "loss/view": [0.845, 0.8303, 1.018], "loss/angle": [1.575, 1.543, 1.02], "loss/depth": [0.8004, 0.7779, 1.029], "loss/score": [1.343, 1.31, 1.025], "loss/width": [0.5643, 0.5737, 0.984]}, "rise": {"loss/objectness": -0.165, "loss/graspness": -0.425, "loss/view": 0.028, "loss/angle": 0.04, "loss/depth": 0.025, "loss/score": 0.049, "loss/width": -0.131}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.99, -2.039, -2.172, -1.877], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__product-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=product-fps -o stage__EconomicGrasp__proposal__product-fps.yaml", "config_hash": "3db269e7b17bdb1c", "run": "2026-10-16@c43ea39", "seconds": 154.1},
  {"id": "stage/FineGrasp/proposal/product-fps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=product-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08756, 0.08986, 0.974], "loss/graspness": [0.05018, 0.04722, 1.063], "loss/view": [0.7498, 0.7334, 1.022], "loss/angle": [0.9168, 0.9369, 0.978], "loss/depth": [0.4329, 0.4363, 0.992], "loss/score": [0.8119, 0.8125, 0.999], "loss/width": [0.3074, 0.3151, 0.976]}, "rise": {"loss/objectness": -0.154, "loss/graspness": -0.178, "loss/view": -0.053, "loss/angle": -0.179, "loss/depth": -0.147, "loss/score": -0.135, "loss/width": -0.205}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.757, -2.929, -3.957, -4.051], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__product-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=product-fps -o stage__FineGrasp__proposal__product-fps.yaml", "config_hash": "d9c00376f6444e51", "run": "2026-10-16@c43ea39", "seconds": 568.2},
  {"id": "stage/GSNet/proposal/scored-fps", "kind": "proposal", "method": "GSNet", "option": "proposal=scored-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1625, 0.1562, 1.04], "loss/graspness": [0.08197, 0.07598, 1.079], "loss/view": [0.8227, 0.8476, 0.971], "loss/score": [0.03225, 0.0313, 1.03], "loss/width": [0.1018, 0.101, 1.007]}, "rise": {"loss/objectness": -0.21, "loss/graspness": -0.334, "loss/view": 0.196, "loss/score": 0.209, "loss/width": -0.065}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06905, 0.07261, 0.07491, 0.07453], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__scored-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=scored-fps -o stage__GSNet__proposal__scored-fps.yaml", "config_hash": "6dd0818895af547d", "run": "2026-10-16@c43ea39", "seconds": 142.0},
  {"id": "stage/EconomicGrasp/proposal/scored-fps", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=scored-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1261, 0.1259, 1.001], "loss/graspness": [0.06172, 0.06338, 0.974], "loss/view": [0.8376, 0.8303, 1.009], "loss/angle": [1.575, 1.543, 1.021], "loss/depth": [0.79, 0.7779, 1.016], "loss/score": [1.332, 1.31, 1.017], "loss/width": [0.5762, 0.5737, 1.004]}, "rise": {"loss/objectness": -0.128, "loss/graspness": -0.416, "loss/view": 0.037, "loss/angle": 0.048, "loss/depth": 0.034, "loss/score": 0.054, "loss/width": -0.138}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.527, -1.198, -1.201, -0.817], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__scored-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=scored-fps -o stage__EconomicGrasp__proposal__scored-fps.yaml", "config_hash": "ef6bbf82654c1fc9", "run": "2026-10-16@c43ea39", "seconds": 143.3},
  {"id": "stage/FineGrasp/proposal/scored-fps", "kind": "proposal", "method": "FineGrasp", "option": "proposal=scored-fps", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09077, 0.08986, 1.01], "loss/graspness": [0.04795, 0.04722, 1.015], "loss/view": [0.7369, 0.7334, 1.005], "loss/angle": [0.9675, 0.9369, 1.033], "loss/depth": [0.4491, 0.4363, 1.029], "loss/score": [0.8365, 0.8125, 1.03], "loss/width": [0.3215, 0.3151, 1.02]}, "rise": {"loss/objectness": -0.16, "loss/graspness": -0.263, "loss/view": -0.027, "loss/angle": -0.155, "loss/depth": -0.138, "loss/score": -0.13, "loss/width": -0.23}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.32, -0.9969, -2.364, -2.509], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__scored-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=scored-fps -o stage__FineGrasp__proposal__scored-fps.yaml", "config_hash": "05f8837257c3c58a", "run": "2026-10-16@c43ea39", "seconds": 562.0},
  {"id": "stage/GraspNet-baseline/proposal/scored-fps", "kind": "proposal", "method": "GraspNet-baseline", "option": "proposal=scored-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 1.857x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4402, 0.3739, 1.177], "loss/view": [0.05525, 0.02976, 1.857], "loss/score": [0.02026, 0.02246, 0.902], "loss/angle": [0.3215, 0.3337, 0.963], "loss/width": [0.01424, 0.01289, 1.104], "loss/tolerance": [0.02072, 0.02008, 1.032], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": -0.068, "loss/view": 0.062, "loss/score": -0.075, "loss/angle": -0.039, "loss/width": -0.16, "loss/tolerance": -0.307, "loss/graspness": -0.075}, "grasps_per_frame": [131, 211, 614, 517], "no_gradient": [], "unchanged": [], "score_median": [0.5225, 0.1537, 0.4022, 0.2696], "checked": [11, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__proposal__scored-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set proposal=scored-fps -o stage__GraspNet-baseline__proposal__scored-fps.yaml", "config_hash": "01ecd28afc204388", "run": "2026-10-16@c43ea39", "seconds": 114.3},
  {"id": "stage/Scale-Balanced-Grasp/proposal/scored-fps", "kind": "proposal", "method": "Scale-Balanced-Grasp", "option": "proposal=scored-fps", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.110x the reference (tolerance 1.25)", "loss/tolerance 1.550x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4167, 0.1975, 2.11], "loss/view": [0.09217, 0.08244, 1.118], "loss/score": [0.01248, 0.01418, 0.88], "loss/angle": [0.2934, 0.3132, 0.937], "loss/width": [0.01267, 0.01146, 1.106], "loss/tolerance": [0.01095, 0.007067, 1.55], "loss/graspness": "another proposal stage computes it (ScoredSeeds for SubsampledSeeds)"}, "rise": {"loss/objectness": 0.011, "loss/view": -0.01, "loss/score": -0.117, "loss/angle": -0.081, "loss/width": 0.062, "loss/tolerance": -0.281, "loss/graspness": -0.154}, "grasps_per_frame": [389, 384, 445, 444], "no_gradient": [], "unchanged": [], "score_median": [0.01377, 0.04658, 0.01236, -0.0154], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__proposal__scored-fps.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set proposal=scored-fps -o stage__Scale-Balanced-Grasp__proposal__scored-fps.yaml", "config_hash": "b95c06a6b03071cb", "run": "2026-10-16@c43ea39", "seconds": 148.0},
  {"id": "stage/GSNet/proposal/SubsampledSeeds", "kind": "proposal", "method": "GSNet", "option": "proposal=SubsampledSeeds", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/view 0.31x, loss/score 0.26x"], "terms": {"loss/objectness": "another proposal stage computes it (SubsampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SubsampledSeeds for GraspnessFPS)", "loss/view": [0.2628, 0.8476, 0.31], "loss/score": [0.008198, 0.0313, 0.262], "loss/width": [0.1188, 0.101, 1.176]}, "rise": {"loss/view": 0.008, "loss/score": -0.139, "loss/width": -0.066}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04842, 0.05116, 0.04879, 0.05573], "checked": [6, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__proposal__SubsampledSeeds.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal=SubsampledSeeds -o stage__GSNet__proposal__SubsampledSeeds.yaml", "config_hash": "d7c9db0bd02188fa", "run": "2026-10-16@c43ea39", "seconds": 144.8},
  {"id": "stage/EconomicGrasp/proposal/SubsampledSeeds", "kind": "proposal", "method": "EconomicGrasp", "option": "proposal=SubsampledSeeds", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.258x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.69x, loss/angle 0.79x, loss/depth 0.73x"], "terms": {"loss/objectness": "another proposal stage computes it (SubsampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SubsampledSeeds for GraspnessFPS)", "loss/view": [0.5758, 0.8303, 0.693], "loss/angle": [1.218, 1.543, 0.789], "loss/depth": [0.5655, 0.7779, 0.727], "loss/score": [1.061, 1.31, 0.811], "loss/width": [0.7216, 0.5737, 1.258]}, "rise": {"loss/view": -0.01, "loss/angle": 0.002, "loss/depth": -0.027, "loss/score": 0.015, "loss/width": -0.027}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.704, -1.65, -1.686, -1.664], "checked": [9, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__proposal__SubsampledSeeds.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal=SubsampledSeeds -o stage__EconomicGrasp__proposal__SubsampledSeeds.yaml", "config_hash": "c4322feeacb15556", "run": "2026-10-16@c43ea39", "seconds": 143.7},
  {"id": "stage/FineGrasp/proposal/SubsampledSeeds", "kind": "proposal", "method": "FineGrasp", "option": "proposal=SubsampledSeeds", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.468x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.78x"], "terms": {"loss/objectness": "another proposal stage computes it (SubsampledSeeds for GraspnessFPS)", "loss/graspness": "another proposal stage computes it (SubsampledSeeds for GraspnessFPS)", "loss/view": [0.5715, 0.7334, 0.779], "loss/angle": [0.8757, 0.9369, 0.935], "loss/depth": [0.3869, 0.4363, 0.887], "loss/score": [0.7364, 0.8125, 0.906], "loss/width": [0.4625, 0.3151, 1.468]}, "rise": {"loss/view": -0.015, "loss/angle": -0.043, "loss/depth": -0.045, "loss/score": -0.028, "loss/width": -0.133}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.357, -3.178, -3.583, -3.161], "checked": [8, 4], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__proposal__SubsampledSeeds.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal=SubsampledSeeds -o stage__FineGrasp__proposal__SubsampledSeeds.yaml", "config_hash": "aaebeaa8431f8cee", "run": "2026-10-16@c43ea39", "seconds": 575.5},
  {"id": "stage/GSNet/view/direction-regression", "kind": "view", "method": "GSNet", "option": "view=direction-regression", "level1": "runs", "outcome": "worse", "reasons": ["loss/score 1.750x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.77x"], "terms": {"loss/objectness": [0.1491, 0.1562, 0.954], "loss/graspness": [0.09385, 0.07598, 1.235], "loss/view": "another view stage computes it (DirectionViewStage for TemplateViewStage)", "loss/score": [0.05476, 0.0313, 1.75], "loss/width": [0.07825, 0.101, 0.774]}, "rise": {"loss/objectness": -0.22, "loss/graspness": -0.299, "loss/view": -0.059, "loss/score": 0.206, "loss/width": -0.063}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09234, 0.1009, 0.09038, 0.1086], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__direction-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=direction-regression -o stage__GSNet__view__direction-regression.yaml", "config_hash": "820ee6d4308ddd67", "run": "2026-10-16@c43ea39", "seconds": 144.5},
  {"id": "stage/EconomicGrasp/view/direction-regression", "kind": "view", "method": "EconomicGrasp", "option": "view=direction-regression", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.694x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.49x"], "terms": {"loss/objectness": [0.1449, 0.1259, 1.151], "loss/graspness": [0.1073, 0.06338, 1.694], "loss/view": "another view stage computes it (DirectionViewStage for TemplateViewStage)", "loss/angle": [1.643, 1.543, 1.064], "loss/depth": [0.8479, 0.7779, 1.09], "loss/score": [1.402, 1.31, 1.071], "loss/width": [0.2785, 0.5737, 0.485]}, "rise": {"loss/objectness": -0.084, "loss/graspness": -0.17, "loss/view": -0.078, "loss/angle": -0.069, "loss/depth": -0.055, "loss/score": -0.071, "loss/width": -0.079}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7469, -0.8612, -1.174, -0.8154], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__direction-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=direction-regression -o stage__EconomicGrasp__view__direction-regression.yaml", "config_hash": "313cb709f49950af", "run": "2026-10-16@c43ea39", "seconds": 154.1},
  {"id": "stage/FineGrasp/view/direction-regression", "kind": "view", "method": "FineGrasp", "option": "view=direction-regression", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.465x the reference (tolerance 1.25)", "loss/depth 1.429x the reference (tolerance 1.25)", "loss/score 1.484x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.59x"], "terms": {"loss/objectness": [0.08422, 0.08986, 0.937], "loss/graspness": [0.04795, 0.04722, 1.015], "loss/view": "another view stage computes it (DirectionViewStage for TemplateViewStage)", "loss/angle": [1.373, 0.9369, 1.465], "loss/depth": [0.6237, 0.4363, 1.429], "loss/score": [1.206, 0.8125, 1.484], "loss/width": [0.1872, 0.3151, 0.594]}, "rise": {"loss/objectness": -0.243, "loss/graspness": -0.488, "loss/view": -0.162, "loss/angle": -0.09, "loss/depth": -0.071, "loss/score": -0.057, "loss/width": -0.227}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7351, 0.09892, 0.01108, 0.3123], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__direction-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=direction-regression -o stage__FineGrasp__view__direction-regression.yaml", "config_hash": "55813f2a709a115b", "run": "2026-10-16@c43ea39", "seconds": 527.6},
  {"id": "stage/GraspNet-baseline/view/direction-regression", "kind": "view", "method": "GraspNet-baseline", "option": "view=direction-regression", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (DirectionViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (DirectionViewStage for ObjectnessViewStage)", "loss/score": [0.02005, 0.02246, 0.892], "loss/angle": [0.3106, 0.3337, 0.931], "loss/width": [0.01322, 0.01289, 1.025], "loss/tolerance": [0.01886, 0.02008, 0.939]}, "rise": {"loss/view": -0.041, "loss/score": -0.105, "loss/angle": -0.043, "loss/width": -0.237, "loss/tolerance": -0.318}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1043, 0.1041, 0.1236, 0.0697], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__direction-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=direction-regression -o stage__GraspNet-baseline__view__direction-regression.yaml", "config_hash": "5d8029cc5b58677e", "run": "2026-10-16@c43ea39", "seconds": 96.7},
  {"id": "stage/Scale-Balanced-Grasp/view/direction-regression", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=direction-regression", "level1": "runs", "outcome": "diverging", "reasons": ["loss/width rises +32 % over the last half; the reference +14 %"], "notes": ["lower than the reference: loss/width 0.76x"], "terms": {"loss/objectness": "another view stage computes it (DirectionViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (DirectionViewStage for ObjectnessViewStage)", "loss/score": [0.01248, 0.01418, 0.88], "loss/angle": [0.3315, 0.3132, 1.058], "loss/width": [0.008652, 0.01146, 0.755], "loss/tolerance": [0.006262, 0.007067, 0.886]}, "rise": {"loss/view": 0.008, "loss/score": -0.046, "loss/angle": -0.053, "loss/width": 0.323, "loss/tolerance": -0.283}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08136, 0.1233, 0.1233, 0.146], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__direction-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=direction-regression -o stage__Scale-Balanced-Grasp__view__direction-regression.yaml", "config_hash": "31346c5b576e2e7b", "run": "2026-10-16@c43ea39", "seconds": 117.4},
  {"id": "stage/GSNet/view/direction-vmf", "kind": "view", "method": "GSNet", "option": "view=direction-vmf", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.378x the reference (tolerance 1.25)", "loss/score 1.908x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.79x"], "terms": {"loss/objectness": [0.158, 0.1562, 1.012], "loss/graspness": [0.1047, 0.07598, 1.378], "loss/view": "another view stage computes it (DirectionViewStage for TemplateViewStage)", "loss/score": [0.05972, 0.0313, 1.908], "loss/width": [0.08028, 0.101, 0.794]}, "rise": {"loss/objectness": -0.199, "loss/graspness": -0.222, "loss/view": -0.155, "loss/score": 0.218, "loss/width": -0.048}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09302, 0.1026, 0.09982, 0.1108], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__direction-vmf.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=direction-vmf -o stage__GSNet__view__direction-vmf.yaml", "config_hash": "8c01ad1ff5257a31", "run": "2026-10-16@c43ea39", "seconds": 138.3},
  {"id": "stage/EconomicGrasp/view/direction-vmf", "kind": "view", "method": "EconomicGrasp", "option": "view=direction-vmf", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.400x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.38x"], "terms": {"loss/objectness": [0.1539, 0.1259, 1.222], "loss/graspness": [0.08871, 0.06338, 1.4], "loss/view": "another view stage computes it (DirectionViewStage for TemplateViewStage)", "loss/angle": [1.728, 1.543, 1.12], "loss/depth": [0.8746, 0.7779, 1.124], "loss/score": [1.482, 1.31, 1.131], "loss/width": [0.2191, 0.5737, 0.382]}, "rise": {"loss/objectness": -0.091, "loss/graspness": -0.242, "loss/view": -0.217, "loss/angle": -0.033, "loss/depth": -0.033, "loss/score": -0.05, "loss/width": -0.23}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [1.414, 1.513, 1.393, 1.126], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__direction-vmf.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=direction-vmf -o stage__EconomicGrasp__view__direction-vmf.yaml", "config_hash": "d096beccbc80d803", "run": "2026-10-16@c43ea39", "seconds": 154.0},
  {"id": "stage/FineGrasp/view/direction-vmf", "kind": "view", "method": "FineGrasp", "option": "view=direction-vmf", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.405x the reference (tolerance 1.25)", "loss/angle 1.490x the reference (tolerance 1.25)", "loss/depth 1.578x the reference (tolerance 1.25)", "loss/score 1.456x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.49x"], "terms": {"loss/objectness": [0.09043, 0.08986, 1.006], "loss/graspness": [0.06634, 0.04722, 1.405], "loss/view": "another view stage computes it (DirectionViewStage for TemplateViewStage)", "loss/angle": [1.396, 0.9369, 1.49], "loss/depth": [0.6884, 0.4363, 1.578], "loss/score": [1.183, 0.8125, 1.456], "loss/width": [0.1548, 0.3151, 0.491]}, "rise": {"loss/objectness": -0.258, "loss/graspness": -0.49, "loss/view": -0.769, "loss/angle": -0.101, "loss/depth": -0.037, "loss/score": -0.077, "loss/width": -0.233}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [1.369, 1.37, 1.27, 1.635], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__direction-vmf.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=direction-vmf -o stage__FineGrasp__view__direction-vmf.yaml", "config_hash": "376f22b0807fb260", "run": "2026-10-16@c43ea39", "seconds": 533.6},
  {"id": "stage/GraspNet-baseline/view/direction-vmf", "kind": "view", "method": "GraspNet-baseline", "option": "view=direction-vmf", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.79x"], "terms": {"loss/objectness": "another view stage computes it (DirectionViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (DirectionViewStage for ObjectnessViewStage)", "loss/score": [0.01947, 0.02246, 0.867], "loss/angle": [0.2994, 0.3337, 0.897], "loss/width": [0.01291, 0.01289, 1.002], "loss/tolerance": [0.01592, 0.02008, 0.793]}, "rise": {"loss/view": -0.04, "loss/score": -0.071, "loss/angle": -0.067, "loss/width": -0.087, "loss/tolerance": -0.316}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08991, 0.07711, 0.1, 0.1485], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__direction-vmf.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=direction-vmf -o stage__GraspNet-baseline__view__direction-vmf.yaml", "config_hash": "8f676d91fed0599f", "run": "2026-10-16@c43ea39", "seconds": 95.6},
  {"id": "stage/Scale-Balanced-Grasp/view/direction-vmf", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=direction-vmf", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.702x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (DirectionViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (DirectionViewStage for ObjectnessViewStage)", "loss/score": [0.01375, 0.01418, 0.969], "loss/angle": [0.304, 0.3132, 0.971], "loss/width": [0.0119, 0.01146, 1.039], "loss/tolerance": [0.01202, 0.007067, 1.702]}, "rise": {"loss/view": -0.067, "loss/score": 0.007, "loss/angle": -0.081, "loss/width": 0.012, "loss/tolerance": 0.024}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03938, 0.05165, 0.04949, -0.001528], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__direction-vmf.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=direction-vmf -o stage__Scale-Balanced-Grasp__view__direction-vmf.yaml", "config_hash": "40cbf9c254c3b6cb", "run": "2026-10-16@c43ea39", "seconds": 119.0},
  {"id": "stage/GSNet/view/healpix-192", "kind": "view", "method": "GSNet", "option": "view=healpix-192", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1565, 0.1562, 1.002], "loss/graspness": [0.07742, 0.07598, 1.019], "loss/view": "another view stage computes it (HealpixViewStage for TemplateViewStage)", "loss/score": [0.0336, 0.0313, 1.073], "loss/width": [0.09951, 0.101, 0.985]}, "rise": {"loss/objectness": -0.225, "loss/graspness": -0.368, "loss/view": 0.205, "loss/score": 0.199, "loss/width": -0.081}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07711, 0.07339, 0.07504, 0.0753], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__healpix-192.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=healpix-192 -o stage__GSNet__view__healpix-192.yaml", "config_hash": "4020bfdfc6bc03b5", "run": "2026-10-16@c43ea39", "seconds": 139.6},
  {"id": "stage/EconomicGrasp/view/healpix-192", "kind": "view", "method": "EconomicGrasp", "option": "view=healpix-192", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1209, 0.1259, 0.96], "loss/graspness": [0.05509, 0.06338, 0.869], "loss/view": "another view stage computes it (HealpixViewStage for TemplateViewStage)", "loss/angle": [1.618, 1.543, 1.048], "loss/depth": [0.8101, 0.7779, 1.041], "loss/score": [1.364, 1.31, 1.042], "loss/width": [0.551, 0.5737, 0.96]}, "rise": {"loss/objectness": -0.148, "loss/graspness": -0.334, "loss/view": 0.006, "loss/angle": 0.078, "loss/depth": 0.064, "loss/score": 0.072, "loss/width": -0.146}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.2851, -0.1961, -0.3447, -0.1493], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__healpix-192.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=healpix-192 -o stage__EconomicGrasp__view__healpix-192.yaml", "config_hash": "37a04d057b4e5c19", "run": "2026-10-16@c43ea39", "seconds": 158.7},
  {"id": "stage/FineGrasp/view/healpix-192", "kind": "view", "method": "FineGrasp", "option": "view=healpix-192", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09052, 0.08986, 1.007], "loss/graspness": [0.04526, 0.04722, 0.958], "loss/view": "another view stage computes it (HealpixViewStage for TemplateViewStage)", "loss/angle": [0.9528, 0.9369, 1.017], "loss/depth": [0.4433, 0.4363, 1.016], "loss/score": [0.8221, 0.8125, 1.012], "loss/width": [0.3077, 0.3151, 0.977]}, "rise": {"loss/objectness": -0.16, "loss/graspness": -0.268, "loss/view": -0.032, "loss/angle": -0.163, "loss/depth": -0.141, "loss/score": -0.13, "loss/width": -0.239}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.561, -1.935, -2.508, -2.309], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__healpix-192.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=healpix-192 -o stage__FineGrasp__view__healpix-192.yaml", "config_hash": "b60769035c620c00", "run": "2026-10-16@c43ea39", "seconds": 527.5},
  {"id": "stage/GraspNet-baseline/view/healpix-192", "kind": "view", "method": "GraspNet-baseline", "option": "view=healpix-192", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.286x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (HealpixViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (HealpixViewStage for ObjectnessViewStage)", "loss/score": [0.02042, 0.02246, 0.909], "loss/angle": [0.3654, 0.3337, 1.095], "loss/width": [0.01657, 0.01289, 1.286], "loss/tolerance": [0.02164, 0.02008, 1.078]}, "rise": {"loss/view": -0.012, "loss/score": -0.036, "loss/angle": -0.049, "loss/width": -0.165, "loss/tolerance": -0.382}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.02159, -0.005115, 0.03017, 0.01323], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__healpix-192.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=healpix-192 -o stage__GraspNet-baseline__view__healpix-192.yaml", "config_hash": "a5a420a8d9bf28dc", "run": "2026-10-16@c43ea39", "seconds": 96.4},
  {"id": "stage/Scale-Balanced-Grasp/view/healpix-192", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=healpix-192", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.600x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (HealpixViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (HealpixViewStage for ObjectnessViewStage)", "loss/score": [0.01146, 0.01418, 0.808], "loss/angle": [0.3656, 0.3132, 1.167], "loss/width": [0.01269, 0.01146, 1.108], "loss/tolerance": [0.01131, 0.007067, 1.6]}, "rise": {"loss/view": -0.005, "loss/score": -0.066, "loss/angle": -0.059, "loss/width": -0.122, "loss/tolerance": -0.362}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03999, 0.05257, 0.03902, -0.001285], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__healpix-192.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=healpix-192 -o stage__Scale-Balanced-Grasp__view__healpix-192.yaml", "config_hash": "33ff259b0882a592", "run": "2026-10-16@c43ea39", "seconds": 138.7},
  {"id": "stage/GSNet/view/healpix-768", "kind": "view", "method": "GSNet", "option": "view=healpix-768", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1511, 0.1562, 0.968], "loss/graspness": [0.07824, 0.07598, 1.03], "loss/view": "another view stage computes it (HealpixViewStage for TemplateViewStage)", "loss/score": [0.03198, 0.0313, 1.022], "loss/width": [0.1021, 0.101, 1.011]}, "rise": {"loss/objectness": -0.224, "loss/graspness": -0.365, "loss/view": 0.233, "loss/score": 0.203, "loss/width": -0.055}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06699, 0.07167, 0.06591, 0.07088], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__healpix-768.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=healpix-768 -o stage__GSNet__view__healpix-768.yaml", "config_hash": "c79ce91359ba33cf", "run": "2026-10-16@c43ea39", "seconds": 149.6},
  {"id": "stage/EconomicGrasp/view/healpix-768", "kind": "view", "method": "EconomicGrasp", "option": "view=healpix-768", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1352, 0.1259, 1.074], "loss/graspness": [0.0761, 0.06338, 1.201], "loss/view": "another view stage computes it (HealpixViewStage for TemplateViewStage)", "loss/angle": [1.488, 1.543, 0.964], "loss/depth": [0.7348, 0.7779, 0.945], "loss/score": [1.261, 1.31, 0.963], "loss/width": [0.5868, 0.5737, 1.023]}, "rise": {"loss/objectness": -0.181, "loss/graspness": -0.398, "loss/view": 0.028, "loss/angle": 0.001, "loss/depth": -0.004, "loss/score": 0.003, "loss/width": -0.107}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.9251, 0.7936, 0.727, 0.8504], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__healpix-768.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=healpix-768 -o stage__EconomicGrasp__view__healpix-768.yaml", "config_hash": "d3abd1f077e17ceb", "run": "2026-10-16@c43ea39", "seconds": 157.1},
  {"id": "stage/FineGrasp/view/healpix-768", "kind": "view", "method": "FineGrasp", "option": "view=healpix-768", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09128, 0.08986, 1.016], "loss/graspness": [0.04716, 0.04722, 0.999], "loss/view": "another view stage computes it (HealpixViewStage for TemplateViewStage)", "loss/angle": [0.9556, 0.9369, 1.02], "loss/depth": [0.4501, 0.4363, 1.032], "loss/score": [0.8395, 0.8125, 1.033], "loss/width": [0.3299, 0.3151, 1.047]}, "rise": {"loss/objectness": -0.196, "loss/graspness": -0.288, "loss/view": -0.01, "loss/angle": -0.154, "loss/depth": -0.134, "loss/score": -0.123, "loss/width": -0.218}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.279, -2.14, -2.999, -2.976], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__healpix-768.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=healpix-768 -o stage__FineGrasp__view__healpix-768.yaml", "config_hash": "6581d57cf761f0c4", "run": "2026-10-16@c43ea39", "seconds": 525.6},
  {"id": "stage/GraspNet-baseline/view/healpix-768", "kind": "view", "method": "GraspNet-baseline", "option": "view=healpix-768", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (HealpixViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (HealpixViewStage for ObjectnessViewStage)", "loss/score": [0.02034, 0.02246, 0.905], "loss/angle": [0.3704, 0.3337, 1.11], "loss/width": [0.01591, 0.01289, 1.234], "loss/tolerance": [0.02251, 0.02008, 1.121]}, "rise": {"loss/view": -0.013, "loss/score": -0.038, "loss/angle": -0.039, "loss/width": -0.189, "loss/tolerance": -0.378}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1048, 0.1059, 0.07404, 0.07832], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__healpix-768.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=healpix-768 -o stage__GraspNet-baseline__view__healpix-768.yaml", "config_hash": "3ca26bc1242a4e72", "run": "2026-10-16@c43ea39", "seconds": 88.2},
  {"id": "stage/Scale-Balanced-Grasp/view/healpix-768", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=healpix-768", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (HealpixViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (HealpixViewStage for ObjectnessViewStage)", "loss/score": [0.012, 0.01418, 0.847], "loss/angle": [0.3711, 0.3132, 1.185], "loss/width": [0.01121, 0.01146, 0.979], "loss/tolerance": [0.007353, 0.007067, 1.041]}, "rise": {"loss/view": -0.002, "loss/score": 0.012, "loss/angle": -0.048, "loss/width": -0.051, "loss/tolerance": -0.32}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04426, 0.04622, 0.0592, 0.04635], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__healpix-768.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=healpix-768 -o stage__Scale-Balanced-Grasp__view__healpix-768.yaml", "config_hash": "5af5bbe4f2d406e4", "run": "2026-10-16@c43ea39", "seconds": 132.9},
  {"id": "stage/GSNet/view/icosphere-162", "kind": "view", "method": "GSNet", "option": "view=icosphere-162", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1606, 0.1562, 1.028], "loss/graspness": [0.08066, 0.07598, 1.062], "loss/view": "another view stage computes it (IcosphereViewStage for TemplateViewStage)", "loss/score": [0.02839, 0.0313, 0.907], "loss/width": [0.09905, 0.101, 0.98]}, "rise": {"loss/objectness": -0.236, "loss/graspness": -0.362, "loss/view": 0.18, "loss/score": 0.19, "loss/width": -0.076}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06002, 0.06582, 0.06251, 0.07164], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__icosphere-162.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=icosphere-162 -o stage__GSNet__view__icosphere-162.yaml", "config_hash": "b9fd1dfe7b8ccb8b", "run": "2026-10-16@c43ea39", "seconds": 138.8},
  {"id": "stage/EconomicGrasp/view/icosphere-162", "kind": "view", "method": "EconomicGrasp", "option": "view=icosphere-162", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1296, 0.1259, 1.029], "loss/graspness": [0.0692, 0.06338, 1.092], "loss/view": "another view stage computes it (IcosphereViewStage for TemplateViewStage)", "loss/angle": [1.499, 1.543, 0.971], "loss/depth": [0.7513, 0.7779, 0.966], "loss/score": [1.278, 1.31, 0.976], "loss/width": [0.5306, 0.5737, 0.925]}, "rise": {"loss/objectness": -0.107, "loss/graspness": -0.348, "loss/view": 0.018, "loss/angle": 0.051, "loss/depth": 0.055, "loss/score": 0.054, "loss/width": -0.154}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.01771, 0.174, 0.05096, 0.3525], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__icosphere-162.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=icosphere-162 -o stage__EconomicGrasp__view__icosphere-162.yaml", "config_hash": "99bebaae20adcda0", "run": "2026-10-16@c43ea39", "seconds": 154.8},
  {"id": "stage/FineGrasp/view/icosphere-162", "kind": "view", "method": "FineGrasp", "option": "view=icosphere-162", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09202, 0.08986, 1.024], "loss/graspness": [0.04998, 0.04722, 1.058], "loss/view": "another view stage computes it (IcosphereViewStage for TemplateViewStage)", "loss/angle": [0.9931, 0.9369, 1.06], "loss/depth": [0.4626, 0.4363, 1.06], "loss/score": [0.849, 0.8125, 1.045], "loss/width": [0.3353, 0.3151, 1.064]}, "rise": {"loss/objectness": -0.234, "loss/graspness": -0.342, "loss/view": -0.024, "loss/angle": -0.161, "loss/depth": -0.171, "loss/score": -0.152, "loss/width": -0.261}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.232, -2.815, -3.139, -3.122], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__icosphere-162.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=icosphere-162 -o stage__FineGrasp__view__icosphere-162.yaml", "config_hash": "8d70e75412603c2d", "run": "2026-10-16@c43ea39", "seconds": 547.6},
  {"id": "stage/GraspNet-baseline/view/icosphere-162", "kind": "view", "method": "GraspNet-baseline", "option": "view=icosphere-162", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.312x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (IcosphereViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (IcosphereViewStage for ObjectnessViewStage)", "loss/score": [0.01962, 0.02246, 0.873], "loss/angle": [0.3693, 0.3337, 1.107], "loss/width": [0.01691, 0.01289, 1.312], "loss/tolerance": [0.02349, 0.02008, 1.17]}, "rise": {"loss/view": -0.017, "loss/score": -0.056, "loss/angle": -0.048, "loss/width": -0.206, "loss/tolerance": -0.342}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.103, 0.06067, 0.05168, 0.05904], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__icosphere-162.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=icosphere-162 -o stage__GraspNet-baseline__view__icosphere-162.yaml", "config_hash": "86c76ba8071a8229", "run": "2026-10-16@c43ea39", "seconds": 86.6},
  {"id": "stage/Scale-Balanced-Grasp/view/icosphere-162", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=icosphere-162", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.417x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (IcosphereViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (IcosphereViewStage for ObjectnessViewStage)", "loss/score": [0.01153, 0.01418, 0.813], "loss/angle": [0.364, 0.3132, 1.162], "loss/width": [0.01229, 0.01146, 1.073], "loss/tolerance": [0.01001, 0.007067, 1.417]}, "rise": {"loss/view": 0.003, "loss/score": -0.046, "loss/angle": -0.063, "loss/width": -0.157, "loss/tolerance": -0.347}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04171, 0.05172, 0.04153, 0.06619], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__icosphere-162.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=icosphere-162 -o stage__Scale-Balanced-Grasp__view__icosphere-162.yaml", "config_hash": "280cdc13323cff58", "run": "2026-10-16@c43ea39", "seconds": 151.6},
  {"id": "stage/GSNet/view/icosphere-642", "kind": "view", "method": "GSNet", "option": "view=icosphere-642", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1507, 0.1562, 0.965], "loss/graspness": [0.08265, 0.07598, 1.088], "loss/view": "another view stage computes it (IcosphereViewStage for TemplateViewStage)", "loss/score": [0.02814, 0.0313, 0.899], "loss/width": [0.1009, 0.101, 0.999]}, "rise": {"loss/objectness": -0.253, "loss/graspness": -0.366, "loss/view": 0.226, "loss/score": 0.142, "loss/width": -0.08}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07346, 0.07325, 0.06734, 0.06994], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__icosphere-642.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=icosphere-642 -o stage__GSNet__view__icosphere-642.yaml", "config_hash": "f8d736ba2839e247", "run": "2026-10-16@c43ea39", "seconds": 147.7},
  {"id": "stage/EconomicGrasp/view/icosphere-642", "kind": "view", "method": "EconomicGrasp", "option": "view=icosphere-642", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1322, 0.1259, 1.05], "loss/graspness": [0.05992, 0.06338, 0.945], "loss/view": "another view stage computes it (IcosphereViewStage for TemplateViewStage)", "loss/angle": [1.527, 1.543, 0.989], "loss/depth": [0.7514, 0.7779, 0.966], "loss/score": [1.282, 1.31, 0.979], "loss/width": [0.5312, 0.5737, 0.926]}, "rise": {"loss/objectness": -0.06, "loss/graspness": -0.31, "loss/view": 0.013, "loss/angle": 0.006, "loss/depth": -0.024, "loss/score": 0.006, "loss/width": -0.158}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.3581, -0.1123, -0.2418, 0.292], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__icosphere-642.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=icosphere-642 -o stage__EconomicGrasp__view__icosphere-642.yaml", "config_hash": "685e0208d00d20d1", "run": "2026-10-16@c43ea39", "seconds": 155.6},
  {"id": "stage/FineGrasp/view/icosphere-642", "kind": "view", "method": "FineGrasp", "option": "view=icosphere-642", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09159, 0.08986, 1.019], "loss/graspness": [0.04761, 0.04722, 1.008], "loss/view": "another view stage computes it (IcosphereViewStage for TemplateViewStage)", "loss/angle": [0.9557, 0.9369, 1.02], "loss/depth": [0.4431, 0.4363, 1.016], "loss/score": [0.8291, 0.8125, 1.02], "loss/width": [0.3349, 0.3151, 1.063]}, "rise": {"loss/objectness": -0.192, "loss/graspness": -0.344, "loss/view": -0.001, "loss/angle": -0.146, "loss/depth": -0.122, "loss/score": -0.109, "loss/width": -0.232}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.386, -2.299, -2.715, -3.434], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__icosphere-642.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=icosphere-642 -o stage__FineGrasp__view__icosphere-642.yaml", "config_hash": "af5bcbe4b59c0f53", "run": "2026-10-16@c43ea39", "seconds": 526.4},
  {"id": "stage/GraspNet-baseline/view/icosphere-642", "kind": "view", "method": "GraspNet-baseline", "option": "view=icosphere-642", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (IcosphereViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (IcosphereViewStage for ObjectnessViewStage)", "loss/score": [0.02056, 0.02246, 0.915], "loss/angle": [0.3666, 0.3337, 1.099], "loss/width": [0.01529, 0.01289, 1.186], "loss/tolerance": [0.02321, 0.02008, 1.156]}, "rise": {"loss/view": -0.014, "loss/score": -0.033, "loss/angle": -0.048, "loss/width": -0.259, "loss/tolerance": -0.412}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1008, 0.0836, 0.07236, 0.1209], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__icosphere-642.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=icosphere-642 -o stage__GraspNet-baseline__view__icosphere-642.yaml", "config_hash": "a1031df3bb3b8db6", "run": "2026-10-16@c43ea39", "seconds": 89.6},
  {"id": "stage/Scale-Balanced-Grasp/view/icosphere-642", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=icosphere-642", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.73x"], "terms": {"loss/objectness": "another view stage computes it (IcosphereViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (IcosphereViewStage for ObjectnessViewStage)", "loss/score": [0.01191, 0.01418, 0.839], "loss/angle": [0.3589, 0.3132, 1.146], "loss/width": [0.008391, 0.01146, 0.733], "loss/tolerance": [0.006461, 0.007067, 0.914]}, "rise": {"loss/view": -0.0, "loss/score": -0.028, "loss/angle": -0.064, "loss/width": -0.38, "loss/tolerance": -0.42}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03574, 0.05433, 0.02541, 0.03137], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__icosphere-642.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=icosphere-642 -o stage__Scale-Balanced-Grasp__view__icosphere-642.yaml", "config_hash": "bbaad110d4661188", "run": "2026-10-16@c43ea39", "seconds": 128.6},
  {"id": "stage/GSNet/view/lattice-angular-cost", "kind": "view", "method": "GSNet", "option": "view=lattice-angular-cost", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.387x the reference (tolerance 1.25)", "loss/score 1.794x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1609, 0.1562, 1.03], "loss/graspness": [0.1054, 0.07598, 1.387], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/score": [0.05614, 0.0313, 1.794], "loss/width": [0.08606, 0.101, 0.852], "loss/view_angular": "only the cell reports it"}, "rise": {"loss/objectness": -0.214, "loss/graspness": -0.275, "loss/view": -0.046, "loss/score": 0.32, "loss/width": -0.084, "loss/view_angular": -0.147}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1062, 0.1058, 0.09316, 0.1371], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__lattice-angular-cost.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=lattice-angular-cost -o stage__GSNet__view__lattice-angular-cost.yaml", "config_hash": "5f1dc269353d8f56", "run": "2026-10-16@c43ea39", "seconds": 150.6},
  {"id": "stage/EconomicGrasp/view/lattice-angular-cost", "kind": "view", "method": "EconomicGrasp", "option": "view=lattice-angular-cost", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.327x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.40x"], "terms": {"loss/objectness": [0.1345, 0.1259, 1.069], "loss/graspness": [0.08408, 0.06338, 1.327], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.756, 1.543, 1.138], "loss/depth": [0.929, 0.7779, 1.194], "loss/score": [1.549, 1.31, 1.183], "loss/width": [0.2317, 0.5737, 0.404], "loss/view_angular": "only the cell reports it"}, "rise": {"loss/objectness": -0.128, "loss/graspness": -0.18, "loss/view": -0.077, "loss/angle": -0.017, "loss/depth": -0.011, "loss/score": -0.02, "loss/width": -0.156, "loss/view_angular": -0.182}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.731, -0.9524, -0.587, -0.7838], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__lattice-angular-cost.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=lattice-angular-cost -o stage__EconomicGrasp__view__lattice-angular-cost.yaml", "config_hash": "20827ad5f4dcc481", "run": "2026-10-16@c43ea39", "seconds": 158.5},
  {"id": "stage/FineGrasp/view/lattice-angular-cost", "kind": "view", "method": "FineGrasp", "option": "view=lattice-angular-cost", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 2.856x the reference (tolerance 1.25)", "loss/angle 1.561x the reference (tolerance 1.25)", "loss/depth 1.850x the reference (tolerance 1.25)", "loss/score 1.536x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.48x"], "terms": {"loss/objectness": [0.1025, 0.08986, 1.141], "loss/graspness": [0.1348, 0.04722, 2.856], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.462, 0.9369, 1.561], "loss/depth": [0.8071, 0.4363, 1.85], "loss/score": [1.248, 0.8125, 1.536], "loss/width": [0.1506, 0.3151, 0.478], "loss/view_angular": "only the cell reports it"}, "rise": {"loss/objectness": -0.18, "loss/graspness": -0.022, "loss/view": -0.273, "loss/angle": -0.108, "loss/depth": -0.028, "loss/score": -0.11, "loss/width": -0.316, "loss/view_angular": -0.357}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [1.086, 0.7334, 0.7884, 1.202], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__lattice-angular-cost.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=lattice-angular-cost -o stage__FineGrasp__view__lattice-angular-cost.yaml", "config_hash": "852eb15c59f90e55", "run": "2026-10-16@c43ea39", "seconds": 523.5},
  {"id": "stage/GraspNet-baseline/view/lattice-angular-cost", "kind": "view", "method": "GraspNet-baseline", "option": "view=lattice-angular-cost", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.02097, 0.02246, 0.934], "loss/angle": [0.3233, 0.3337, 0.969], "loss/width": [0.01407, 0.01289, 1.091], "loss/tolerance": [0.02177, 0.02008, 1.084], "loss/view_angular": "only the cell reports it"}, "rise": {"loss/view": -0.01, "loss/score": -0.047, "loss/angle": -0.043, "loss/width": 0.008, "loss/tolerance": -0.295, "loss/view_angular": -0.025}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04845, 0.04891, 0.05862, 0.1096], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__lattice-angular-cost.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=lattice-angular-cost -o stage__GraspNet-baseline__view__lattice-angular-cost.yaml", "config_hash": "f9d4feaf6709a32d", "run": "2026-10-16@c43ea39", "seconds": 88.3},
  {"id": "stage/Scale-Balanced-Grasp/view/lattice-angular-cost", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=lattice-angular-cost", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 2.010x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01272, 0.01418, 0.897], "loss/angle": [0.3458, 0.3132, 1.104], "loss/width": [0.01232, 0.01146, 1.075], "loss/tolerance": [0.0142, 0.007067, 2.01], "loss/view_angular": "only the cell reports it"}, "rise": {"loss/view": -0.017, "loss/score": -0.024, "loss/angle": -0.065, "loss/width": -0.34, "loss/tolerance": -0.371, "loss/view_angular": -0.036}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03492, 0.08278, 0.04861, 0.1214], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__lattice-angular-cost.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=lattice-angular-cost -o stage__Scale-Balanced-Grasp__view__lattice-angular-cost.yaml", "config_hash": "5cdd151671850deb", "run": "2026-10-16@c43ea39", "seconds": 128.1},
  {"id": "stage/GSNet/view/lattice-best-view", "kind": "view", "method": "GSNet", "option": "view=lattice-best-view", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.303x the reference (tolerance 1.25)", "loss/score 1.759x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1611, 0.1562, 1.032], "loss/graspness": [0.09899, 0.07598, 1.303], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/score": [0.05505, 0.0313, 1.759], "loss/width": [0.08823, 0.101, 0.873]}, "rise": {"loss/objectness": -0.224, "loss/graspness": -0.289, "loss/view": -0.042, "loss/score": 0.32, "loss/width": -0.074}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09173, 0.08933, 0.09957, 0.09705], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__lattice-best-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=lattice-best-view -o stage__GSNet__view__lattice-best-view.yaml", "config_hash": "1bbcfa87b1270aad", "run": "2026-10-16@c43ea39", "seconds": 148.9},
  {"id": "stage/EconomicGrasp/view/lattice-best-view", "kind": "view", "method": "EconomicGrasp", "option": "view=lattice-best-view", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.372x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.43x"], "terms": {"loss/objectness": [0.135, 0.1259, 1.073], "loss/graspness": [0.08693, 0.06338, 1.372], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.776, 1.543, 1.151], "loss/depth": [0.9462, 0.7779, 1.216], "loss/score": [1.564, 1.31, 1.195], "loss/width": [0.2491, 0.5737, 0.434]}, "rise": {"loss/objectness": -0.122, "loss/graspness": -0.183, "loss/view": -0.074, "loss/angle": -0.008, "loss/depth": 0.004, "loss/score": -0.013, "loss/width": -0.105}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.08943, -0.3283, -0.1384, -0.2002], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__lattice-best-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=lattice-best-view -o stage__EconomicGrasp__view__lattice-best-view.yaml", "config_hash": "231dc5c47fd2aa77", "run": "2026-10-16@c43ea39", "seconds": 160.2},
  {"id": "stage/FineGrasp/view/lattice-best-view", "kind": "view", "method": "FineGrasp", "option": "view=lattice-best-view", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 2.470x the reference (tolerance 1.25)", "loss/angle 1.503x the reference (tolerance 1.25)", "loss/depth 1.777x the reference (tolerance 1.25)", "loss/score 1.478x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.48x"], "terms": {"loss/objectness": [0.09847, 0.08986, 1.096], "loss/graspness": [0.1166, 0.04722, 2.47], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.408, 0.9369, 1.503], "loss/depth": [0.7753, 0.4363, 1.777], "loss/score": [1.201, 0.8125, 1.478], "loss/width": [0.1499, 0.3151, 0.476]}, "rise": {"loss/objectness": -0.134, "loss/graspness": 0.064, "loss/view": -0.273, "loss/angle": -0.119, "loss/depth": -0.06, "loss/score": -0.118, "loss/width": -0.296}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [1.706, 2.095, 1.998, 2.161], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__lattice-best-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=lattice-best-view -o stage__FineGrasp__view__lattice-best-view.yaml", "config_hash": "96de9a2f76c85cb9", "run": "2026-10-16@c43ea39", "seconds": 521.4},
  {"id": "stage/GraspNet-baseline/view/lattice-best-view", "kind": "view", "method": "GraspNet-baseline", "option": "view=lattice-best-view", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.02174, 0.02246, 0.968], "loss/angle": [0.3186, 0.3337, 0.955], "loss/width": [0.01542, 0.01289, 1.196], "loss/tolerance": [0.01921, 0.02008, 0.957]}, "rise": {"loss/view": -0.01, "loss/score": -0.03, "loss/angle": -0.042, "loss/width": -0.126, "loss/tolerance": -0.332}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1267, 0.09174, 0.134, 0.1169], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__lattice-best-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=lattice-best-view -o stage__GraspNet-baseline__view__lattice-best-view.yaml", "config_hash": "b7ebabd126bb0a00", "run": "2026-10-16@c43ea39", "seconds": 87.9},
  {"id": "stage/Scale-Balanced-Grasp/view/lattice-best-view", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=lattice-best-view", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 2.434x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01306, 0.01418, 0.921], "loss/angle": [0.3412, 0.3132, 1.089], "loss/width": [0.01336, 0.01146, 1.166], "loss/tolerance": [0.0172, 0.007067, 2.434]}, "rise": {"loss/view": -0.016, "loss/score": -0.029, "loss/angle": -0.065, "loss/width": -0.304, "loss/tolerance": -0.35}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1146, 0.07511, 0.101, 0.2557], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__lattice-best-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=lattice-best-view -o stage__Scale-Balanced-Grasp__view__lattice-best-view.yaml", "config_hash": "8ac0826517d57ef5", "run": "2026-10-16@c43ea39", "seconds": 127.8},
  {"id": "stage/GSNet/view/lattice-fibonacci-120", "kind": "view", "method": "GSNet", "option": "view=lattice-fibonacci-120", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1539, 0.1562, 0.985], "loss/graspness": [0.0756, 0.07598, 0.995], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/score": [0.03016, 0.0313, 0.964], "loss/width": [0.09948, 0.101, 0.985]}, "rise": {"loss/objectness": -0.197, "loss/graspness": -0.331, "loss/view": 0.158, "loss/score": 0.156, "loss/width": -0.089}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07671, 0.08203, 0.07311, 0.08271], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__lattice-fibonacci-120.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=lattice-fibonacci-120 -o stage__GSNet__view__lattice-fibonacci-120.yaml", "config_hash": "c561818ab3dd4fec", "run": "2026-10-16@c43ea39", "seconds": 147.7},
  {"id": "stage/EconomicGrasp/view/lattice-fibonacci-120", "kind": "view", "method": "EconomicGrasp", "option": "view=lattice-fibonacci-120", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1338, 0.1259, 1.063], "loss/graspness": [0.0656, 0.06338, 1.035], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.471, 1.543, 0.953], "loss/depth": [0.729, 0.7779, 0.937], "loss/score": [1.256, 1.31, 0.959], "loss/width": [0.5308, 0.5737, 0.925]}, "rise": {"loss/objectness": -0.059, "loss/graspness": -0.357, "loss/view": 0.023, "loss/angle": 0.021, "loss/depth": 0.009, "loss/score": 0.029, "loss/width": -0.165}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.5167, 0.8137, 0.6626, 1.424], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__lattice-fibonacci-120.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=lattice-fibonacci-120 -o stage__EconomicGrasp__view__lattice-fibonacci-120.yaml", "config_hash": "9c2327ab5956c50d", "run": "2026-10-16@c43ea39", "seconds": 148.8},
  {"id": "stage/FineGrasp/view/lattice-fibonacci-120", "kind": "view", "method": "FineGrasp", "option": "view=lattice-fibonacci-120", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08951, 0.08986, 0.996], "loss/graspness": [0.0455, 0.04722, 0.964], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [0.981, 0.9369, 1.047], "loss/depth": [0.4525, 0.4363, 1.037], "loss/score": [0.8372, 0.8125, 1.03], "loss/width": [0.3114, 0.3151, 0.988]}, "rise": {"loss/objectness": -0.173, "loss/graspness": -0.334, "loss/view": -0.029, "loss/angle": -0.15, "loss/depth": -0.138, "loss/score": -0.127, "loss/width": -0.249}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.494, -2.163, -3.446, -2.904], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__lattice-fibonacci-120.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=lattice-fibonacci-120 -o stage__FineGrasp__view__lattice-fibonacci-120.yaml", "config_hash": "2cfcc8f194036d30", "run": "2026-10-16@c43ea39", "seconds": 525.6},
  {"id": "stage/GraspNet-baseline/view/lattice-fibonacci-120", "kind": "view", "method": "GraspNet-baseline", "option": "view=lattice-fibonacci-120", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.02007, 0.02246, 0.894], "loss/angle": [0.3664, 0.3337, 1.098], "loss/width": [0.01442, 0.01289, 1.119], "loss/tolerance": [0.02265, 0.02008, 1.128]}, "rise": {"loss/view": -0.017, "loss/score": -0.009, "loss/angle": -0.052, "loss/width": -0.238, "loss/tolerance": -0.38}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1324, 0.1328, 0.08492, 0.08111], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__lattice-fibonacci-120.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=lattice-fibonacci-120 -o stage__GraspNet-baseline__view__lattice-fibonacci-120.yaml", "config_hash": "dfb5fb11cb977f3c", "run": "2026-10-16@c43ea39", "seconds": 92.0},
  {"id": "stage/Scale-Balanced-Grasp/view/lattice-fibonacci-120", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=lattice-fibonacci-120", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01141, 0.01418, 0.805], "loss/angle": [0.3643, 0.3132, 1.163], "loss/width": [0.0112, 0.01146, 0.978], "loss/tolerance": [0.007803, 0.007067, 1.104]}, "rise": {"loss/view": 0.002, "loss/score": 0.009, "loss/angle": -0.058, "loss/width": -0.209, "loss/tolerance": -0.464}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05929, 0.02734, 0.03324, 0.05473], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__lattice-fibonacci-120.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=lattice-fibonacci-120 -o stage__Scale-Balanced-Grasp__view__lattice-fibonacci-120.yaml", "config_hash": "09db01c8d7af6fc1", "run": "2026-10-16@c43ea39", "seconds": 129.4},
  {"id": "stage/GSNet/view/lattice-hemisphere-60", "kind": "view", "method": "GSNet", "option": "view=lattice-hemisphere-60", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1676, 0.1562, 1.073], "loss/graspness": [0.07106, 0.07598, 0.935], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/score": [0.03644, 0.0313, 1.164], "loss/width": [0.09397, 0.101, 0.93]}, "rise": {"loss/objectness": -0.223, "loss/graspness": -0.308, "loss/view": 0.116, "loss/score": 0.199, "loss/width": -0.105}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07725, 0.07078, 0.07499, 0.08375], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__lattice-hemisphere-60.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=lattice-hemisphere-60 -o stage__GSNet__view__lattice-hemisphere-60.yaml", "config_hash": "b23d8cc9df812bdb", "run": "2026-10-16@c43ea39", "seconds": 147.4},
  {"id": "stage/EconomicGrasp/view/lattice-hemisphere-60", "kind": "view", "method": "EconomicGrasp", "option": "view=lattice-hemisphere-60", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1264, 0.1259, 1.004], "loss/graspness": [0.05418, 0.06338, 0.855], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.642, 1.543, 1.064], "loss/depth": [0.8166, 0.7779, 1.05], "loss/score": [1.373, 1.31, 1.049], "loss/width": [0.4842, 0.5737, 0.844]}, "rise": {"loss/objectness": -0.166, "loss/graspness": -0.311, "loss/view": -0.019, "loss/angle": -0.002, "loss/depth": -0.001, "loss/score": -0.012, "loss/width": -0.158}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7153, -0.5956, -0.7857, -0.6154], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__lattice-hemisphere-60.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=lattice-hemisphere-60 -o stage__EconomicGrasp__view__lattice-hemisphere-60.yaml", "config_hash": "87186571bfda30c1", "run": "2026-10-16@c43ea39", "seconds": 147.9},
  {"id": "stage/FineGrasp/view/lattice-hemisphere-60", "kind": "view", "method": "FineGrasp", "option": "view=lattice-hemisphere-60", "level1": "runs", "outcome": "worse", "reasons": ["loss/depth 1.258x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.08917, 0.08986, 0.992], "loss/graspness": [0.04513, 0.04722, 0.956], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.156, 0.9369, 1.234], "loss/depth": [0.549, 0.4363, 1.258], "loss/score": [1.001, 0.8125, 1.232], "loss/width": [0.2863, 0.3151, 0.909]}, "rise": {"loss/objectness": -0.177, "loss/graspness": -0.281, "loss/view": -0.151, "loss/angle": -0.16, "loss/depth": -0.147, "loss/score": -0.135, "loss/width": -0.283}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.679, -1.988, -2.648, -2.69], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__lattice-hemisphere-60.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=lattice-hemisphere-60 -o stage__FineGrasp__view__lattice-hemisphere-60.yaml", "config_hash": "7992cabac4018e36", "run": "2026-10-16@c43ea39", "seconds": 529.0},
  {"id": "stage/GraspNet-baseline/view/lattice-hemisphere-60", "kind": "view", "method": "GraspNet-baseline", "option": "view=lattice-hemisphere-60", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01978, 0.02246, 0.881], "loss/angle": [0.348, 0.3337, 1.043], "loss/width": [0.01253, 0.01289, 0.972], "loss/tolerance": [0.01679, 0.02008, 0.836]}, "rise": {"loss/view": -0.01, "loss/score": 0.008, "loss/angle": -0.046, "loss/width": -0.135, "loss/tolerance": -0.335}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06808, 0.06868, 0.0853, 0.08552], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__lattice-hemisphere-60.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=lattice-hemisphere-60 -o stage__GraspNet-baseline__view__lattice-hemisphere-60.yaml", "config_hash": "b141eb84955e80ae", "run": "2026-10-16@c43ea39", "seconds": 91.6},
  {"id": "stage/Scale-Balanced-Grasp/view/lattice-hemisphere-60", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=lattice-hemisphere-60", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01148, 0.01418, 0.809], "loss/angle": [0.3514, 0.3132, 1.122], "loss/width": [0.009833, 0.01146, 0.858], "loss/tolerance": [0.008029, 0.007067, 1.136]}, "rise": {"loss/view": -0.016, "loss/score": -0.004, "loss/angle": -0.062, "loss/width": -0.16, "loss/tolerance": -0.307}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06842, 0.05476, 0.05802, 0.05635], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__lattice-hemisphere-60.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=lattice-hemisphere-60 -o stage__Scale-Balanced-Grasp__view__lattice-hemisphere-60.yaml", "config_hash": "91fb2a89d0c4302e", "run": "2026-10-16@c43ea39", "seconds": 128.9},
  {"id": "stage/GSNet/view/lattice-soft-argmax", "kind": "view", "method": "GSNet", "option": "view=lattice-soft-argmax", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1576, 0.1562, 1.009], "loss/graspness": [0.078, 0.07598, 1.027], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/score": [0.03077, 0.0313, 0.983], "loss/width": [0.09957, 0.101, 0.985]}, "rise": {"loss/objectness": -0.218, "loss/graspness": -0.356, "loss/view": 0.199, "loss/score": 0.24, "loss/width": -0.065}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05968, 0.0744, 0.06782, 0.0654], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__lattice-soft-argmax.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=lattice-soft-argmax -o stage__GSNet__view__lattice-soft-argmax.yaml", "config_hash": "dfdad8c4217e3e79", "run": "2026-10-16@c43ea39", "seconds": 144.3},
  {"id": "stage/EconomicGrasp/view/lattice-soft-argmax", "kind": "view", "method": "EconomicGrasp", "option": "view=lattice-soft-argmax", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1282, 0.1259, 1.019], "loss/graspness": [0.06631, 0.06338, 1.046], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.54, 1.543, 0.998], "loss/depth": [0.7684, 0.7779, 0.988], "loss/score": [1.299, 1.31, 0.992], "loss/width": [0.5792, 0.5737, 1.009]}, "rise": {"loss/objectness": -0.152, "loss/graspness": -0.404, "loss/view": 0.034, "loss/angle": 0.03, "loss/depth": 0.016, "loss/score": 0.031, "loss/width": -0.116}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.255, -1.174, -1.239, -0.6078], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__lattice-soft-argmax.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=lattice-soft-argmax -o stage__EconomicGrasp__view__lattice-soft-argmax.yaml", "config_hash": "b5007cd0d62ab728", "run": "2026-10-16@c43ea39", "seconds": 153.2},
  {"id": "stage/FineGrasp/view/lattice-soft-argmax", "kind": "view", "method": "FineGrasp", "option": "view=lattice-soft-argmax", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09205, 0.08986, 1.024], "loss/graspness": [0.04655, 0.04722, 0.986], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [0.9916, 0.9369, 1.058], "loss/depth": [0.4595, 0.4363, 1.053], "loss/score": [0.855, 0.8125, 1.052], "loss/width": [0.3317, 0.3151, 1.053]}, "rise": {"loss/objectness": -0.179, "loss/graspness": -0.288, "loss/view": -0.007, "loss/angle": -0.106, "loss/depth": -0.072, "loss/score": -0.076, "loss/width": -0.17}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.184, -1.638, -1.834, -2.003], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__lattice-soft-argmax.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=lattice-soft-argmax -o stage__FineGrasp__view__lattice-soft-argmax.yaml", "config_hash": "d1d7ee33df0a1943", "run": "2026-10-16@c43ea39", "seconds": 536.1},
  {"id": "stage/GraspNet-baseline/view/lattice-soft-argmax", "kind": "view", "method": "GraspNet-baseline", "option": "view=lattice-soft-argmax", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01878, 0.02246, 0.836], "loss/angle": [0.3663, 0.3337, 1.098], "loss/width": [0.01411, 0.01289, 1.095], "loss/tolerance": [0.02179, 0.02008, 1.085]}, "rise": {"loss/view": -0.02, "loss/score": -0.043, "loss/angle": -0.046, "loss/width": -0.223, "loss/tolerance": -0.34}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1766, 0.116, 0.1083, 0.09619], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__lattice-soft-argmax.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=lattice-soft-argmax -o stage__GraspNet-baseline__view__lattice-soft-argmax.yaml", "config_hash": "889301e4d5ae6fa4", "run": "2026-10-16@c43ea39", "seconds": 88.7},
  {"id": "stage/Scale-Balanced-Grasp/view/lattice-soft-argmax", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=lattice-soft-argmax", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.333x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.80x"], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01133, 0.01418, 0.799], "loss/angle": [0.3723, 0.3132, 1.189], "loss/width": [0.009282, 0.01146, 0.81], "loss/tolerance": [0.009421, 0.007067, 1.333]}, "rise": {"loss/view": -0.003, "loss/score": -0.035, "loss/angle": -0.054, "loss/width": -0.208, "loss/tolerance": -0.42}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.02385, 0.03104, 0.03087, 0.04501], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__lattice-soft-argmax.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=lattice-soft-argmax -o stage__Scale-Balanced-Grasp__view__lattice-soft-argmax.yaml", "config_hash": "444aefdc1a9d53a2", "run": "2026-10-16@c43ea39", "seconds": 137.0},
  {"id": "stage/GSNet/view/lattice-topk", "kind": "view", "method": "GSNet", "option": "view=lattice-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/score 1.922x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1576, 0.1562, 1.009], "loss/graspness": [0.0738, 0.07598, 0.971], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/score": [0.06015, 0.0313, 1.922], "loss/width": [0.08526, 0.101, 0.844]}, "rise": {"loss/objectness": -0.193, "loss/graspness": -0.338, "loss/view": 0.172, "loss/score": 0.256, "loss/width": -0.114}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09448, 0.09899, 0.1074, 0.108], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__lattice-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=lattice-topk -o stage__GSNet__view__lattice-topk.yaml", "config_hash": "9cd8c15223aa6d99", "run": "2026-10-16@c43ea39", "seconds": 149.6},
  {"id": "stage/EconomicGrasp/view/lattice-topk", "kind": "view", "method": "EconomicGrasp", "option": "view=lattice-topk", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.47x"], "terms": {"loss/objectness": [0.1377, 0.1259, 1.094], "loss/graspness": [0.07208, 0.06338, 1.137], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.766, 1.543, 1.144], "loss/depth": [0.8274, 0.7779, 1.064], "loss/score": [1.483, 1.31, 1.132], "loss/width": [0.2708, 0.5737, 0.472]}, "rise": {"loss/objectness": -0.142, "loss/graspness": -0.33, "loss/view": 0.033, "loss/angle": -0.037, "loss/depth": -0.06, "loss/score": -0.047, "loss/width": -0.198}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.565, 0.8862, 0.6201, 0.6126], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__lattice-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=lattice-topk -o stage__EconomicGrasp__view__lattice-topk.yaml", "config_hash": "6d1aa82fa93a9989", "run": "2026-10-16@c43ea39", "seconds": 149.9},
  {"id": "stage/FineGrasp/view/lattice-topk", "kind": "view", "method": "FineGrasp", "option": "view=lattice-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.445x the reference (tolerance 1.25)", "loss/depth 1.375x the reference (tolerance 1.25)", "loss/score 1.475x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.59x"], "terms": {"loss/objectness": [0.08492, 0.08986, 0.945], "loss/graspness": [0.04719, 0.04722, 0.999], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.354, 0.9369, 1.445], "loss/depth": [0.5999, 0.4363, 1.375], "loss/score": [1.199, 0.8125, 1.475], "loss/width": [0.186, 0.3151, 0.59]}, "rise": {"loss/objectness": -0.2, "loss/graspness": -0.29, "loss/view": -0.022, "loss/angle": -0.115, "loss/depth": -0.073, "loss/score": -0.078, "loss/width": -0.24}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.6511, -0.1866, -0.1324, -0.5391], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__lattice-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=lattice-topk -o stage__FineGrasp__view__lattice-topk.yaml", "config_hash": "3d3e9574c5e3f57c", "run": "2026-10-16@c43ea39", "seconds": 529.9},
  {"id": "stage/GraspNet-baseline/view/lattice-topk", "kind": "view", "method": "GraspNet-baseline", "option": "view=lattice-topk", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.02026, 0.02246, 0.902], "loss/angle": [0.3313, 0.3337, 0.993], "loss/width": [0.01241, 0.01289, 0.963], "loss/tolerance": [0.01713, 0.02008, 0.853]}, "rise": {"loss/view": -0.021, "loss/score": -0.038, "loss/angle": -0.05, "loss/width": -0.246, "loss/tolerance": -0.318}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08007, 0.03367, 0.07261, 0.07367], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__lattice-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=lattice-topk -o stage__GraspNet-baseline__view__lattice-topk.yaml", "config_hash": "f5421e6950fec122", "run": "2026-10-16@c43ea39", "seconds": 89.0},
  {"id": "stage/Scale-Balanced-Grasp/view/lattice-topk", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=lattice-topk", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.442x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01216, 0.01418, 0.858], "loss/angle": [0.3475, 0.3132, 1.11], "loss/width": [0.009312, 0.01146, 0.813], "loss/tolerance": [0.01019, 0.007067, 1.442]}, "rise": {"loss/view": -0.003, "loss/score": -0.088, "loss/angle": -0.061, "loss/width": -0.209, "loss/tolerance": -0.419}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04488, 0.04123, 0.06663, 0.07333], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__lattice-topk.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=lattice-topk -o stage__Scale-Balanced-Grasp__view__lattice-topk.yaml", "config_hash": "2b0fae2538856052", "run": "2026-10-16@c43ea39", "seconds": 133.7},
  {"id": "stage/GSNet/view/lattice-view", "kind": "view", "method": "GSNet", "option": "view=lattice-view", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1593, 0.1562, 1.02], "loss/graspness": [0.08033, 0.07598, 1.057], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/score": [0.03142, 0.0313, 1.004], "loss/width": [0.1018, 0.101, 1.007]}, "rise": {"loss/objectness": -0.22, "loss/graspness": -0.366, "loss/view": 0.207, "loss/score": 0.245, "loss/width": -0.078}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07028, 0.07528, 0.07587, 0.07513], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__lattice-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=lattice-view -o stage__GSNet__view__lattice-view.yaml", "config_hash": "f320be43398f1d72", "run": "2026-10-16@c43ea39", "seconds": 145.4},
  {"id": "stage/EconomicGrasp/view/lattice-view", "kind": "view", "method": "EconomicGrasp", "option": "view=lattice-view", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1277, 0.1259, 1.015], "loss/graspness": [0.06634, 0.06338, 1.047], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [1.45, 1.543, 0.94], "loss/depth": [0.7347, 0.7779, 0.944], "loss/score": [1.234, 1.31, 0.942], "loss/width": [0.5887, 0.5737, 1.026]}, "rise": {"loss/objectness": -0.132, "loss/graspness": -0.362, "loss/view": 0.036, "loss/angle": 0.009, "loss/depth": -0.006, "loss/score": 0.014, "loss/width": -0.116}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.6299, 0.6072, 0.5803, 0.5778], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__lattice-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=lattice-view -o stage__EconomicGrasp__view__lattice-view.yaml", "config_hash": "1e96d82c2ac89877", "run": "2026-10-16@c43ea39", "seconds": 152.8},
  {"id": "stage/FineGrasp/view/lattice-view", "kind": "view", "method": "FineGrasp", "option": "view=lattice-view", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08996, 0.08986, 1.001], "loss/graspness": [0.04647, 0.04722, 0.984], "loss/view": "another view stage computes it (LatticeViewStage for TemplateViewStage)", "loss/angle": [0.9561, 0.9369, 1.02], "loss/depth": [0.4471, 0.4363, 1.025], "loss/score": [0.8184, 0.8125, 1.007], "loss/width": [0.3185, 0.3151, 1.011]}, "rise": {"loss/objectness": -0.178, "loss/graspness": -0.256, "loss/view": -0.027, "loss/angle": -0.135, "loss/depth": -0.111, "loss/score": -0.101, "loss/width": -0.194}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.956, -1.027, -1.706, -1.507], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__lattice-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=lattice-view -o stage__FineGrasp__view__lattice-view.yaml", "config_hash": "6a0f1633395f6d46", "run": "2026-10-16@c43ea39", "seconds": 524.7},
  {"id": "stage/GraspNet-baseline/view/lattice-view", "kind": "view", "method": "GraspNet-baseline", "option": "view=lattice-view", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01887, 0.02246, 0.84], "loss/angle": [0.3679, 0.3337, 1.103], "loss/width": [0.01481, 0.01289, 1.149], "loss/tolerance": [0.022, 0.02008, 1.096]}, "rise": {"loss/view": -0.018, "loss/score": -0.036, "loss/angle": -0.042, "loss/width": -0.242, "loss/tolerance": -0.317}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08723, 0.06404, 0.0995, 0.06255], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__lattice-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=lattice-view -o stage__GraspNet-baseline__view__lattice-view.yaml", "config_hash": "f30019c4b1176a0e", "run": "2026-10-16@c43ea39", "seconds": 88.4},
  {"id": "stage/Scale-Balanced-Grasp/view/lattice-view", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=lattice-view", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.333x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.80x"], "terms": {"loss/objectness": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (LatticeViewStage for ObjectnessViewStage)", "loss/score": [0.01133, 0.01418, 0.799], "loss/angle": [0.3723, 0.3132, 1.189], "loss/width": [0.009282, 0.01146, 0.81], "loss/tolerance": [0.009421, 0.007067, 1.333]}, "rise": {"loss/view": -0.003, "loss/score": -0.035, "loss/angle": -0.054, "loss/width": -0.208, "loss/tolerance": -0.42}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.02206, 0.02089, 0.02985, 0.02491], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__lattice-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=lattice-view -o stage__Scale-Balanced-Grasp__view__lattice-view.yaml", "config_hash": "daf558c4e263e370", "run": "2026-10-16@c43ea39", "seconds": 127.9},
  {"id": "stage/GSNet/view/objectness-view-graspable", "kind": "view", "method": "GSNet", "option": "view=objectness-view-graspable", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 2.598x the reference (tolerance 1.25)", "loss/score 1.915x the reference (tolerance 1.25)", "loss/width 1.395x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4057, 0.1562, 2.598], "loss/graspness": [0.0907, 0.07598, 1.194], "loss/view": "another view stage computes it (ObjectnessViewStage for TemplateViewStage)", "loss/score": [0.05993, 0.0313, 1.915], "loss/width": [0.141, 0.101, 1.395]}, "rise": {"loss/objectness": -0.1, "loss/graspness": -0.098, "loss/view": -0.004, "loss/score": 0.095, "loss/width": 0.081}, "grasps_per_frame": [761, 766, 808, 841], "no_gradient": [], "unchanged": [], "score_median": [0.1011, 0.09764, 0.09982, 0.09585], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__objectness-view-graspable.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=objectness-view-graspable -o stage__GSNet__view__objectness-view-graspable.yaml", "config_hash": "e1ad88878c15f5f4", "run": "2026-10-16@c43ea39", "seconds": 156.0},
  {"id": "stage/GraspNet-baseline/view/objectness-view-graspable", "kind": "view", "method": "GraspNet-baseline", "option": "view=objectness-view-graspable", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 2.868x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.53x"], "terms": {"loss/objectness": [0.1998, 0.3739, 0.534], "loss/view": [0.08533, 0.02976, 2.868], "loss/score": [0.02187, 0.02246, 0.973], "loss/angle": [0.3114, 0.3337, 0.933], "loss/width": [0.01442, 0.01289, 1.119], "loss/tolerance": [0.01952, 0.02008, 0.972]}, "rise": {"loss/objectness": -0.127, "loss/view": -0.004, "loss/score": -0.05, "loss/angle": -0.056, "loss/width": -0.106, "loss/tolerance": -0.343}, "grasps_per_frame": [97, 74, 98, 136], "no_gradient": [], "unchanged": [], "score_median": [0.01233, 0.04282, 0.1382, 0.1377], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__objectness-view-graspable.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=objectness-view-graspable -o stage__GraspNet-baseline__view__objectness-view-graspable.yaml", "config_hash": "d0fb005d3b7f850f", "run": "2026-10-16@c43ea39", "seconds": 89.5},
  {"id": "stage/GSNet/view/objectness-view", "kind": "view", "method": "GSNet", "option": "view=objectness-view", "level1": "runs", "outcome": "diverging", "reasons": ["loss/graspness rises +24 % over the last half; the reference -37 %", "loss/objectness 2.725x the reference (tolerance 1.25)", "loss/graspness 3.098x the reference (tolerance 1.25)", "loss/score 1.553x the reference (tolerance 1.25)", "loss/width 2.561x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4255, 0.1562, 2.725], "loss/graspness": [0.2354, 0.07598, 3.098], "loss/view": "another view stage computes it (ObjectnessViewStage for TemplateViewStage)", "loss/score": [0.04861, 0.0313, 1.553], "loss/width": [0.2588, 0.101, 2.561]}, "rise": {"loss/objectness": 0.147, "loss/graspness": 0.24, "loss/view": -0.011, "loss/score": 0.067, "loss/width": -0.358}, "grasps_per_frame": [616, 799, 677, 658], "no_gradient": [], "unchanged": [], "score_median": [0.1081, 0.1069, 0.1074, 0.1061], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__objectness-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=objectness-view -o stage__GSNet__view__objectness-view.yaml", "config_hash": "4be35e66358db6d0", "run": "2026-10-16@c43ea39", "seconds": 151.2},
  {"id": "stage/Scale-Balanced-Grasp/view/objectness-view", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=objectness-view", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.691x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.21x"], "terms": {"loss/objectness": [0.3339, 0.1975, 1.691], "loss/view": [0.01761, 0.08244, 0.214], "loss/score": [0.01373, 0.01418, 0.968], "loss/angle": [0.3346, 0.3132, 1.068], "loss/width": [0.01019, 0.01146, 0.89], "loss/tolerance": [0.006596, 0.007067, 0.933]}, "rise": {"loss/objectness": -0.12, "loss/view": -0.077, "loss/score": -0.064, "loss/angle": -0.07, "loss/width": -0.031, "loss/tolerance": -0.351}, "grasps_per_frame": [338, 285, 360, 406], "no_gradient": [], "unchanged": [], "score_median": [0.006661, 0.04228, 0.07103, 0.05402], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__objectness-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=objectness-view -o stage__Scale-Balanced-Grasp__view__objectness-view.yaml", "config_hash": "4f56c95f8f61fc17", "run": "2026-10-16@c43ea39", "seconds": 129.2},
  {"id": "stage/GSNet/view/rotation-6d", "kind": "view", "method": "GSNet", "option": "view=rotation-6d", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.497x the reference (tolerance 1.25)", "loss/graspness 2.659x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2338, 0.1562, 1.497], "loss/graspness": [0.202, 0.07598, 2.659], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/score": [0.03617, 0.0313, 1.156], "loss/width": [0.1, 0.101, 0.99], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.259, "loss/graspness": 0.015, "loss/view": -0.059, "loss/score": 0.036, "loss/width": -0.042, "loss/view_frame": -0.316}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07772, 0.07236, 0.08502, 0.0781], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__rotation-6d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=rotation-6d -o stage__GSNet__view__rotation-6d.yaml", "config_hash": "8347abcb50ef5605", "run": "2026-10-16@c43ea39", "seconds": 154.2},
  {"id": "stage/EconomicGrasp/view/rotation-6d", "kind": "view", "method": "EconomicGrasp", "option": "view=rotation-6d", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.735x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.50x"], "terms": {"loss/objectness": [0.1433, 0.1259, 1.138], "loss/graspness": [0.11, 0.06338, 1.735], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/angle": [1.668, 1.543, 1.081], "loss/depth": [0.8445, 0.7779, 1.086], "loss/score": [1.439, 1.31, 1.099], "loss/width": [0.2879, 0.5737, 0.502], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.137, "loss/graspness": -0.171, "loss/view": -0.051, "loss/angle": -0.054, "loss/depth": -0.055, "loss/score": -0.054, "loss/width": -0.065, "loss/view_frame": -0.182}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.1387, -0.2043, -0.2574, -0.8754], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__rotation-6d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=rotation-6d -o stage__EconomicGrasp__view__rotation-6d.yaml", "config_hash": "49d1f4db0ab069a1", "run": "2026-10-16@c43ea39", "seconds": 148.5},
  {"id": "stage/FineGrasp/view/rotation-6d", "kind": "view", "method": "FineGrasp", "option": "view=rotation-6d", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.462x the reference (tolerance 1.25)", "loss/graspness 3.013x the reference (tolerance 1.25)", "loss/angle 1.672x the reference (tolerance 1.25)", "loss/depth 1.577x the reference (tolerance 1.25)", "loss/score 1.645x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1314, 0.08986, 1.462], "loss/graspness": [0.1423, 0.04722, 3.013], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/angle": [1.567, 0.9369, 1.672], "loss/depth": [0.6879, 0.4363, 1.577], "loss/score": [1.337, 0.8125, 1.645], "loss/width": [0.3022, 0.3151, 0.959], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.101, "loss/graspness": -0.332, "loss/view": -0.024, "loss/angle": -0.043, "loss/depth": -0.054, "loss/score": -0.031, "loss/width": -0.03, "loss/view_frame": 0.045}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.07208, 0.3119, -0.3927, 0.2775], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__rotation-6d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=rotation-6d -o stage__FineGrasp__view__rotation-6d.yaml", "config_hash": "a076612ec3556b08", "run": "2026-10-16@c43ea39", "seconds": 532.2},
  {"id": "stage/GraspNet-baseline/view/rotation-6d", "kind": "view", "method": "GraspNet-baseline", "option": "view=rotation-6d", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.75x"], "terms": {"loss/objectness": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/score": [0.01972, 0.02246, 0.878], "loss/angle": [0.3134, 0.3337, 0.939], "loss/width": [0.01515, 0.01289, 1.176], "loss/tolerance": [0.01504, 0.02008, 0.749], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": -0.007, "loss/score": -0.108, "loss/angle": -0.048, "loss/width": -0.162, "loss/tolerance": -0.283, "loss/view_frame": -0.118}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04372, 0.0403, 0.05818, 0.05811], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__rotation-6d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=rotation-6d -o stage__GraspNet-baseline__view__rotation-6d.yaml", "config_hash": "b3740bc215d65f11", "run": "2026-10-16@c43ea39", "seconds": 90.5},
  {"id": "stage/Scale-Balanced-Grasp/view/rotation-6d", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=rotation-6d", "level1": "runs", "outcome": "diverging", "reasons": ["loss/tolerance rises +17 % over the last half; the reference -23 %", "loss/width 1.701x the reference (tolerance 1.25)", "loss/tolerance 2.268x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/score": [0.01311, 0.01418, 0.925], "loss/angle": [0.3402, 0.3132, 1.086], "loss/width": [0.01949, 0.01146, 1.701], "loss/tolerance": [0.01603, 0.007067, 2.268], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": 0.002, "loss/score": -0.036, "loss/angle": -0.04, "loss/width": 0.228, "loss/tolerance": 0.169, "loss/view_frame": -0.203}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1408, 0.08873, 0.2124, 0.1336], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__rotation-6d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=rotation-6d -o stage__Scale-Balanced-Grasp__view__rotation-6d.yaml", "config_hash": "f3a62cba6f346981", "run": "2026-10-16@c43ea39", "seconds": 129.0},
  {"id": "stage/GSNet/view/rotation-9d", "kind": "view", "method": "GSNet", "option": "view=rotation-9d", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.323x the reference (tolerance 1.25)", "loss/graspness 2.657x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2067, 0.1562, 1.323], "loss/graspness": [0.2019, 0.07598, 2.657], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/score": [0.03791, 0.0313, 1.211], "loss/width": [0.1015, 0.101, 1.004], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.188, "loss/graspness": 0.0, "loss/view": -0.036, "loss/score": 0.005, "loss/width": -0.017, "loss/view_frame": -0.287}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09281, 0.08499, 0.09429, 0.09734], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__rotation-9d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=rotation-9d -o stage__GSNet__view__rotation-9d.yaml", "config_hash": "79bed74c585a47f7", "run": "2026-10-16@c43ea39", "seconds": 153.6},
  {"id": "stage/EconomicGrasp/view/rotation-9d", "kind": "view", "method": "EconomicGrasp", "option": "view=rotation-9d", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.724x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.50x"], "terms": {"loss/objectness": [0.1492, 0.1259, 1.185], "loss/graspness": [0.1093, 0.06338, 1.724], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/angle": [1.636, 1.543, 1.06], "loss/depth": [0.8235, 0.7779, 1.059], "loss/score": [1.405, 1.31, 1.073], "loss/width": [0.2893, 0.5737, 0.504], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.124, "loss/graspness": -0.199, "loss/view": -0.08, "loss/angle": -0.044, "loss/depth": -0.048, "loss/score": -0.05, "loss/width": -0.153, "loss/view_frame": -0.202}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.503, -1.718, -2.004, -2.433], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__rotation-9d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=rotation-9d -o stage__EconomicGrasp__view__rotation-9d.yaml", "config_hash": "f90ee8bca6ff8625", "run": "2026-10-16@c43ea39", "seconds": 151.0},
  {"id": "stage/FineGrasp/view/rotation-9d", "kind": "view", "method": "FineGrasp", "option": "view=rotation-9d", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.388x the reference (tolerance 1.25)", "loss/graspness 2.193x the reference (tolerance 1.25)", "loss/angle 1.681x the reference (tolerance 1.25)", "loss/depth 1.598x the reference (tolerance 1.25)", "loss/score 1.647x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1247, 0.08986, 1.388], "loss/graspness": [0.1036, 0.04722, 2.193], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/angle": [1.575, 0.9369, 1.681], "loss/depth": [0.6971, 0.4363, 1.598], "loss/score": [1.339, 0.8125, 1.647], "loss/width": [0.2755, 0.3151, 0.875], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.226, "loss/graspness": -0.348, "loss/view": -0.073, "loss/angle": -0.057, "loss/depth": -0.073, "loss/score": -0.042, "loss/width": -0.132, "loss/view_frame": -0.078}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.781, -0.1134, -0.4967, -0.2646], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__rotation-9d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=rotation-9d -o stage__FineGrasp__view__rotation-9d.yaml", "config_hash": "0358a3f1215c9148", "run": "2026-10-16@c43ea39", "seconds": 526.7},
  {"id": "stage/GraspNet-baseline/view/rotation-9d", "kind": "view", "method": "GraspNet-baseline", "option": "view=rotation-9d", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/score": [0.02113, 0.02246, 0.94], "loss/angle": [0.3234, 0.3337, 0.969], "loss/width": [0.0141, 0.01289, 1.094], "loss/tolerance": [0.01918, 0.02008, 0.955], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": 0.001, "loss/score": -0.065, "loss/angle": -0.044, "loss/width": -0.19, "loss/tolerance": -0.318, "loss/view_frame": -0.217}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09287, 0.1126, 0.09504, 0.1375], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__rotation-9d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=rotation-9d -o stage__GraspNet-baseline__view__rotation-9d.yaml", "config_hash": "b5b14091c66fab85", "run": "2026-10-16@c43ea39", "seconds": 91.3},
  {"id": "stage/Scale-Balanced-Grasp/view/rotation-9d", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=rotation-9d", "level1": "runs", "outcome": "diverging", "reasons": ["loss/width rises +101 % over the last half; the reference +14 %", "loss/tolerance rises +228 % over the last half; the reference -23 %", "loss/width 1.453x the reference (tolerance 1.25)", "loss/tolerance 2.913x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/score": [0.01329, 0.01418, 0.937], "loss/angle": [0.3319, 0.3132, 1.06], "loss/width": [0.01665, 0.01146, 1.453], "loss/tolerance": [0.02058, 0.007067, 2.913], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": 0.017, "loss/score": 0.014, "loss/angle": -0.045, "loss/width": 1.006, "loss/tolerance": 2.277, "loss/view_frame": -0.223}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.07961, -0.05423, 0.008269, -0.007372], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__rotation-9d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=rotation-9d -o stage__Scale-Balanced-Grasp__view__rotation-9d.yaml", "config_hash": "49bd1edc554c21f5", "run": "2026-10-16@c43ea39", "seconds": 132.6},
  {"id": "stage/GSNet/view/rotation-quaternion", "kind": "view", "method": "GSNet", "option": "view=rotation-quaternion", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.267x the reference (tolerance 1.25)", "loss/graspness 2.406x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1979, 0.1562, 1.267], "loss/graspness": [0.1828, 0.07598, 2.406], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/score": [0.03854, 0.0313, 1.231], "loss/width": [0.0934, 0.101, 0.924], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.167, "loss/graspness": -0.027, "loss/view": -0.031, "loss/score": 0.027, "loss/width": -0.02, "loss/view_frame": -0.29}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08033, 0.08232, 0.08421, 0.08085], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__rotation-quaternion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=rotation-quaternion -o stage__GSNet__view__rotation-quaternion.yaml", "config_hash": "6a79d6887bd48052", "run": "2026-10-16@c43ea39", "seconds": 156.7},
  {"id": "stage/EconomicGrasp/view/rotation-quaternion", "kind": "view", "method": "EconomicGrasp", "option": "view=rotation-quaternion", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.785x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.51x"], "terms": {"loss/objectness": [0.1511, 0.1259, 1.201], "loss/graspness": [0.1132, 0.06338, 1.785], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/angle": [1.722, 1.543, 1.116], "loss/depth": [0.8497, 0.7779, 1.092], "loss/score": [1.467, 1.31, 1.121], "loss/width": [0.2915, 0.5737, 0.508], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.111, "loss/graspness": -0.146, "loss/view": -0.06, "loss/angle": -0.037, "loss/depth": -0.038, "loss/score": -0.039, "loss/width": -0.035, "loss/view_frame": -0.184}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04319, -0.4942, -0.9467, -1.268], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__rotation-quaternion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=rotation-quaternion -o stage__EconomicGrasp__view__rotation-quaternion.yaml", "config_hash": "8ac8bfd006cafd9b", "run": "2026-10-16@c43ea39", "seconds": 154.3},
  {"id": "stage/FineGrasp/view/rotation-quaternion", "kind": "view", "method": "FineGrasp", "option": "view=rotation-quaternion", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.623x the reference (tolerance 1.25)", "loss/angle 1.636x the reference (tolerance 1.25)", "loss/depth 1.654x the reference (tolerance 1.25)", "loss/score 1.609x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.72x"], "terms": {"loss/objectness": [0.1084, 0.08986, 1.207], "loss/graspness": [0.07664, 0.04722, 1.623], "loss/view": "another view stage computes it (RomaRotationViewStage for TemplateViewStage)", "loss/angle": [1.533, 0.9369, 1.636], "loss/depth": [0.7218, 0.4363, 1.654], "loss/score": [1.307, 0.8125, 1.609], "loss/width": [0.2254, 0.3151, 0.715], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.192, "loss/graspness": -0.564, "loss/view": -0.094, "loss/angle": -0.073, "loss/depth": -0.046, "loss/score": -0.046, "loss/width": -0.139, "loss/view_frame": -0.115}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.9468, -0.6057, -0.9061, 0.03763], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__rotation-quaternion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=rotation-quaternion -o stage__FineGrasp__view__rotation-quaternion.yaml", "config_hash": "993a41a889692659", "run": "2026-10-16@c43ea39", "seconds": 529.1},
  {"id": "stage/GraspNet-baseline/view/rotation-quaternion", "kind": "view", "method": "GraspNet-baseline", "option": "view=rotation-quaternion", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/score": [0.01936, 0.02246, 0.862], "loss/angle": [0.327, 0.3337, 0.98], "loss/width": [0.0144, 0.01289, 1.117], "loss/tolerance": [0.01729, 0.02008, 0.861], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": -0.007, "loss/score": -0.1, "loss/angle": -0.046, "loss/width": -0.204, "loss/tolerance": -0.303, "loss/view_frame": -0.08}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08809, 0.1214, 0.1319, 0.11], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__rotation-quaternion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=rotation-quaternion -o stage__GraspNet-baseline__view__rotation-quaternion.yaml", "config_hash": "ed1edd64207de322", "run": "2026-10-16@c43ea39", "seconds": 91.6},
  {"id": "stage/Scale-Balanced-Grasp/view/rotation-quaternion", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=rotation-quaternion", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.358x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (RomaRotationViewStage for ObjectnessViewStage)", "loss/score": [0.0126, 0.01418, 0.888], "loss/angle": [0.3232, 0.3132, 1.032], "loss/width": [0.01256, 0.01146, 1.096], "loss/tolerance": [0.009599, 0.007067, 1.358], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": 0.013, "loss/score": -0.112, "loss/angle": -0.051, "loss/width": -0.201, "loss/tolerance": -0.036, "loss/view_frame": -0.168}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.01487, 0.02463, 0.05584, 0.002274], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__rotation-quaternion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=rotation-quaternion -o stage__Scale-Balanced-Grasp__view__rotation-quaternion.yaml", "config_hash": "58618f96ee6c6136", "run": "2026-10-16@c43ea39", "seconds": 130.5},
  {"id": "stage/GraspNet-baseline/view/template-view", "kind": "view", "method": "GraspNet-baseline", "option": "view=template-view", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.314x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (TemplateViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (TemplateViewStage for ObjectnessViewStage)", "loss/score": [0.01881, 0.02246, 0.837], "loss/angle": [0.3691, 0.3337, 1.106], "loss/width": [0.01482, 0.01289, 1.15], "loss/tolerance": [0.02639, 0.02008, 1.314]}, "rise": {"loss/view": -0.017, "loss/score": -0.032, "loss/angle": -0.04, "loss/width": -0.224, "loss/tolerance": -0.277}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1591, 0.124, 0.1903, 0.06697], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__template-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=template-view -o stage__GraspNet-baseline__view__template-view.yaml", "config_hash": "d91822c87857b596", "run": "2026-10-16@c43ea39", "seconds": 89.3},
  {"id": "stage/Scale-Balanced-Grasp/view/template-view", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=template-view", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.333x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.80x"], "terms": {"loss/objectness": "another view stage computes it (TemplateViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (TemplateViewStage for ObjectnessViewStage)", "loss/score": [0.01133, 0.01418, 0.799], "loss/angle": [0.3723, 0.3132, 1.189], "loss/width": [0.009282, 0.01146, 0.81], "loss/tolerance": [0.009421, 0.007067, 1.333]}, "rise": {"loss/view": -0.003, "loss/score": -0.035, "loss/angle": -0.054, "loss/width": -0.208, "loss/tolerance": -0.42}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.02206, 0.02089, 0.02985, 0.02491], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__template-view.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=template-view -o stage__Scale-Balanced-Grasp__view__template-view.yaml", "config_hash": "88457176a59d9c4c", "run": "2026-10-16@c43ea39", "seconds": 134.2},
  {"id": "stage/GSNet/view/two-vector-baseline", "kind": "view", "method": "GSNet", "option": "view=two-vector-baseline", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 2.419x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1693, 0.1562, 1.084], "loss/graspness": [0.1838, 0.07598, 2.419], "loss/view": "another view stage computes it (TwoVectorViewStage for TemplateViewStage)", "loss/score": [0.038, 0.0313, 1.214], "loss/width": [0.09261, 0.101, 0.917], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.214, "loss/graspness": -0.041, "loss/view": -0.041, "loss/score": 0.057, "loss/width": -0.067, "loss/view_frame": -0.206}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07829, 0.07506, 0.08358, 0.0782], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__two-vector-baseline.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=two-vector-baseline -o stage__GSNet__view__two-vector-baseline.yaml", "config_hash": "c670dc61c92d5e2f", "run": "2026-10-16@c43ea39", "seconds": 150.3},
  {"id": "stage/EconomicGrasp/view/two-vector-baseline", "kind": "view", "method": "EconomicGrasp", "option": "view=two-vector-baseline", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.252x the reference (tolerance 1.25)", "loss/graspness 1.830x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.50x"], "terms": {"loss/objectness": [0.1576, 0.1259, 1.252], "loss/graspness": [0.116, 0.06338, 1.83], "loss/view": "another view stage computes it (TwoVectorViewStage for TemplateViewStage)", "loss/angle": [1.615, 1.543, 1.047], "loss/depth": [0.8041, 0.7779, 1.034], "loss/score": [1.399, 1.31, 1.068], "loss/width": [0.2859, 0.5737, 0.498], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.013, "loss/graspness": -0.117, "loss/view": -0.037, "loss/angle": -0.071, "loss/depth": -0.066, "loss/score": -0.056, "loss/width": -0.132, "loss/view_frame": -0.209}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1064, 0.1375, 0.1408, -0.03415], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__two-vector-baseline.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=two-vector-baseline -o stage__EconomicGrasp__view__two-vector-baseline.yaml", "config_hash": "81adb8bfcce2ec82", "run": "2026-10-16@c43ea39", "seconds": 152.9},
  {"id": "stage/FineGrasp/view/two-vector-baseline", "kind": "view", "method": "FineGrasp", "option": "view=two-vector-baseline", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.440x the reference (tolerance 1.25)", "loss/angle 1.565x the reference (tolerance 1.25)", "loss/depth 1.577x the reference (tolerance 1.25)", "loss/score 1.570x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.69x"], "terms": {"loss/objectness": [0.1015, 0.08986, 1.129], "loss/graspness": [0.06799, 0.04722, 1.44], "loss/view": "another view stage computes it (TwoVectorViewStage for TemplateViewStage)", "loss/angle": [1.466, 0.9369, 1.565], "loss/depth": [0.6879, 0.4363, 1.577], "loss/score": [1.276, 0.8125, 1.57], "loss/width": [0.2171, 0.3151, 0.689], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.223, "loss/graspness": -0.444, "loss/view": -0.117, "loss/angle": -0.09, "loss/depth": -0.033, "loss/score": -0.056, "loss/width": -0.231, "loss/view_frame": -0.264}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.3281, 0.2147, -0.2217, 0.378], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__two-vector-baseline.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=two-vector-baseline -o stage__FineGrasp__view__two-vector-baseline.yaml", "config_hash": "25c6d8a7f4bcf876", "run": "2026-10-16@c43ea39", "seconds": 534.4},
  {"id": "stage/GraspNet-baseline/view/two-vector-baseline", "kind": "view", "method": "GraspNet-baseline", "option": "view=two-vector-baseline", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (TwoVectorViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (TwoVectorViewStage for ObjectnessViewStage)", "loss/score": [0.0195, 0.02246, 0.868], "loss/angle": [0.3196, 0.3337, 0.958], "loss/width": [0.01453, 0.01289, 1.127], "loss/tolerance": [0.01858, 0.02008, 0.925], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": 0.0, "loss/score": -0.084, "loss/angle": -0.051, "loss/width": -0.278, "loss/tolerance": -0.29, "loss/view_frame": -0.132}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07284, 0.05194, 0.1001, 0.08975], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__two-vector-baseline.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=two-vector-baseline -o stage__GraspNet-baseline__view__two-vector-baseline.yaml", "config_hash": "de9ca3cf66c71588", "run": "2026-10-16@c43ea39", "seconds": 92.1},
  {"id": "stage/Scale-Balanced-Grasp/view/two-vector-baseline", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=two-vector-baseline", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.827x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (TwoVectorViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (TwoVectorViewStage for ObjectnessViewStage)", "loss/score": [0.01191, 0.01418, 0.84], "loss/angle": [0.333, 0.3132, 1.063], "loss/width": [0.0119, 0.01146, 1.039], "loss/tolerance": [0.01291, 0.007067, 1.827], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": 0.002, "loss/score": -0.139, "loss/angle": -0.047, "loss/width": -0.059, "loss/tolerance": 0.027, "loss/view_frame": -0.153}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.02295, -0.01939, -0.07992, -0.0711], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__two-vector-baseline.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=two-vector-baseline -o stage__Scale-Balanced-Grasp__view__two-vector-baseline.yaml", "config_hash": "b4c05e2a4368bc97", "run": "2026-10-16@c43ea39", "seconds": 129.8},
  {"id": "stage/GSNet/view/two-vector", "kind": "view", "method": "GSNet", "option": "view=two-vector", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.720x the reference (tolerance 1.25)", "loss/graspness 2.615x the reference (tolerance 1.25)", "loss/score 1.288x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2686, 0.1562, 1.72], "loss/graspness": [0.1986, 0.07598, 2.615], "loss/view": "another view stage computes it (TwoVectorViewStage for TemplateViewStage)", "loss/score": [0.04031, 0.0313, 1.288], "loss/width": [0.09844, 0.101, 0.974], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.222, "loss/graspness": -0.002, "loss/view": -0.06, "loss/score": 0.025, "loss/width": -0.043, "loss/view_frame": -0.292}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07807, 0.0898, 0.08784, 0.09855], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__view__two-vector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set view=two-vector -o stage__GSNet__view__two-vector.yaml", "config_hash": "207a968b6b64e1d0", "run": "2026-10-16@c43ea39", "seconds": 154.3},
  {"id": "stage/EconomicGrasp/view/two-vector", "kind": "view", "method": "EconomicGrasp", "option": "view=two-vector", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.843x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.51x"], "terms": {"loss/objectness": [0.1479, 0.1259, 1.175], "loss/graspness": [0.1168, 0.06338, 1.843], "loss/view": "another view stage computes it (TwoVectorViewStage for TemplateViewStage)", "loss/angle": [1.686, 1.543, 1.093], "loss/depth": [0.8639, 0.7779, 1.111], "loss/score": [1.478, 1.31, 1.129], "loss/width": [0.2915, 0.5737, 0.508], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.089, "loss/graspness": -0.145, "loss/view": -0.063, "loss/angle": -0.051, "loss/depth": -0.033, "loss/score": -0.041, "loss/width": -0.072, "loss/view_frame": -0.235}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.9861, 0.5336, 0.7358, 0.3157], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__view__two-vector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view=two-vector -o stage__EconomicGrasp__view__two-vector.yaml", "config_hash": "74c64f25a4937bff", "run": "2026-10-16@c43ea39", "seconds": 151.8},
  {"id": "stage/FineGrasp/view/two-vector", "kind": "view", "method": "FineGrasp", "option": "view=two-vector", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.382x the reference (tolerance 1.25)", "loss/graspness 2.651x the reference (tolerance 1.25)", "loss/angle 1.652x the reference (tolerance 1.25)", "loss/depth 1.599x the reference (tolerance 1.25)", "loss/score 1.621x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1242, 0.08986, 1.382], "loss/graspness": [0.1252, 0.04722, 2.651], "loss/view": "another view stage computes it (TwoVectorViewStage for TemplateViewStage)", "loss/angle": [1.548, 0.9369, 1.652], "loss/depth": [0.6979, 0.4363, 1.599], "loss/score": [1.317, 0.8125, 1.621], "loss/width": [0.2976, 0.3151, 0.944], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/objectness": -0.167, "loss/graspness": -0.3, "loss/view": -0.005, "loss/angle": -0.051, "loss/depth": -0.051, "loss/score": -0.025, "loss/width": -0.008, "loss/view_frame": -0.079}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.152, -0.4206, -1.028, 0.6099], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__view__two-vector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view=two-vector -o stage__FineGrasp__view__two-vector.yaml", "config_hash": "f8e29a66ccffa8d0", "run": "2026-10-16@c43ea39", "seconds": 589.8},
  {"id": "stage/GraspNet-baseline/view/two-vector", "kind": "view", "method": "GraspNet-baseline", "option": "view=two-vector", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.433x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "another view stage computes it (TwoVectorViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (TwoVectorViewStage for ObjectnessViewStage)", "loss/score": [0.01944, 0.02246, 0.865], "loss/angle": [0.3236, 0.3337, 0.97], "loss/width": [0.01848, 0.01289, 1.433], "loss/tolerance": [0.01893, 0.02008, 0.943], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": -0.004, "loss/score": -0.09, "loss/angle": -0.052, "loss/width": -0.147, "loss/tolerance": -0.355, "loss/view_frame": -0.177}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07714, 0.0478, 0.1039, 0.09765], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__view__two-vector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view=two-vector -o stage__GraspNet-baseline__view__two-vector.yaml", "config_hash": "142b35a5d03fc464", "run": "2026-10-16@c43ea39", "seconds": 91.0},
  {"id": "stage/Scale-Balanced-Grasp/view/two-vector", "kind": "view", "method": "Scale-Balanced-Grasp", "option": "view=two-vector", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "another view stage computes it (TwoVectorViewStage for ObjectnessViewStage)", "loss/view": "another view stage computes it (TwoVectorViewStage for ObjectnessViewStage)", "loss/score": [0.01196, 0.01418, 0.844], "loss/angle": [0.325, 0.3132, 1.037], "loss/width": [0.01223, 0.01146, 1.068], "loss/tolerance": [0.007558, 0.007067, 1.069], "loss/view_frame": "only the cell reports it"}, "rise": {"loss/view": 0.018, "loss/score": -0.005, "loss/angle": -0.076, "loss/width": -0.269, "loss/tolerance": 0.001, "loss/view_frame": -0.156}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.01429, -0.06919, -0.04832, -0.1108], "checked": [11, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__view__two-vector.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view=two-vector -o stage__Scale-Balanced-Grasp__view__two-vector.yaml", "config_hash": "72014ba425017a3c", "run": "2026-10-16@c43ea39", "seconds": 130.4},
  {"id": "stage/GSNet/assigner/nearest-label-object-seeds", "kind": "assigner", "method": "GSNet", "option": "assigner=nearest-label-object-seeds", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1641, 0.1562, 1.051], "loss/graspness": [0.08185, 0.07598, 1.077], "loss/view": "the assigner changes the labels the view sees", "loss/score": "the assigner changes the labels the head sees", "loss/width": "the assigner changes the labels the head sees"}, "rise": {"loss/objectness": -0.24, "loss/graspness": -0.364, "loss/view": 0.186, "loss/score": 0.208, "loss/width": -0.078}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06534, 0.07326, 0.06527, 0.07082], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__assigner__nearest-label-object-seeds.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set assigner=nearest-label-object-seeds -o stage__GSNet__assigner__nearest-label-object-seeds.yaml", "config_hash": "8332d396c49b1161", "run": "2026-10-17@c43ea39", "seconds": 143.3},
  {"id": "stage/Scale-Balanced-Grasp/assigner/nearest-label-object-seeds", "kind": "assigner", "method": "Scale-Balanced-Grasp", "option": "assigner=nearest-label-object-seeds", "level1": "runs-empty", "outcome": "not comparable", "reasons": [], "terms": {"loss/objectness": "the assigner changes the labels the view sees", "loss/view": "the assigner changes the labels the view sees", "loss/score": "the assigner changes the labels the head sees", "loss/angle": "the assigner changes the labels the head sees", "loss/width": "the assigner changes the labels the head sees", "loss/tolerance": "the assigner changes the labels the head sees"}, "rise": {"loss/objectness": -0.099, "loss/view": -0.015, "loss/score": -0.078, "loss/angle": -0.059, "loss/width": -0.165, "loss/tolerance": -0.405}, "grasps_per_frame": [2, 7, 6, 6], "no_gradient": [], "unchanged": [], "score_median": [-0.2078, 0.0578, 0.04822, 0.1334], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__assigner__nearest-label-object-seeds.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set assigner=nearest-label-object-seeds -o stage__Scale-Balanced-Grasp__assigner__nearest-label-object-seeds.yaml", "config_hash": "b2ed54169692cf77", "run": "2026-10-17@c43ea39", "seconds": 132.3},
  {"id": "stage/GSNet/assigner/scale-balanced", "kind": "assigner", "method": "GSNet", "option": "assigner=scale-balanced", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.288x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1673, 0.1562, 1.071], "loss/graspness": [0.09786, 0.07598, 1.288], "loss/view": "the assigner changes the labels the view sees", "loss/score": "the assigner changes the labels the head sees", "loss/width": "the assigner changes the labels the head sees"}, "rise": {"loss/objectness": -0.263, "loss/graspness": -0.319, "loss/view": 0.39, "loss/score": 0.262, "loss/width": -0.052}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06646, 0.06663, 0.06727, 0.06863], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__assigner__scale-balanced.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set assigner=scale-balanced -o stage__GSNet__assigner__scale-balanced.yaml", "config_hash": "5045ba94a026f863", "run": "2026-10-17@c43ea39", "seconds": 154.7},
  {"id": "stage/GraspNet-baseline/assigner/scale-balanced", "kind": "assigner", "method": "GraspNet-baseline", "option": "assigner=scale-balanced", "level1": "runs", "outcome": "not comparable", "reasons": [], "terms": {"loss/objectness": "the assigner changes the labels the view sees", "loss/view": "the assigner changes the labels the view sees", "loss/score": "the assigner changes the labels the head sees", "loss/angle": "the assigner changes the labels the head sees", "loss/width": "the assigner changes the labels the head sees", "loss/tolerance": "the assigner changes the labels the head sees"}, "rise": {"loss/objectness": -0.085, "loss/view": -0.057, "loss/score": -0.016, "loss/angle": -0.057, "loss/width": -0.201, "loss/tolerance": -0.323}, "grasps_per_frame": [484, 327, 478, 548], "no_gradient": [], "unchanged": [], "score_median": [0.06057, 0.07102, 0.1523, 0.06619], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__assigner__scale-balanced.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set assigner=scale-balanced -o stage__GraspNet-baseline__assigner__scale-balanced.yaml", "config_hash": "fb0296d83206c5b3", "run": "2026-10-17@c43ea39", "seconds": 86.9},
  {"id": "stage/GraspNet-baseline/assigner/NearestLabelAssigner", "kind": "assigner", "method": "GraspNet-baseline", "option": "assigner=NearestLabelAssigner", "level1": "runs", "outcome": "not comparable", "reasons": [], "terms": {"loss/objectness": "the assigner changes the labels the view sees", "loss/view": "the assigner changes the labels the view sees", "loss/score": "the assigner changes the labels the head sees", "loss/angle": "the assigner changes the labels the head sees", "loss/width": "the assigner changes the labels the head sees", "loss/tolerance": "the assigner changes the labels the head sees"}, "rise": {"loss/objectness": -0.101, "loss/view": -0.04, "loss/score": -0.006, "loss/angle": -0.037, "loss/width": -0.375, "loss/tolerance": -0.308}, "grasps_per_frame": [360, 452, 482, 449], "no_gradient": [], "unchanged": [], "score_median": [0.2008, 0.1449, 0.1588, 0.1535], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__assigner__NearestLabelAssigner.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set assigner=NearestLabelAssigner -o stage__GraspNet-baseline__assigner__NearestLabelAssigner.yaml", "config_hash": "c663932bd92123ba", "run": "2026-10-17@c43ea39", "seconds": 92.5},
  {"id": "stage/Scale-Balanced-Grasp/assigner/NearestLabelAssigner", "kind": "assigner", "method": "Scale-Balanced-Grasp", "option": "assigner=NearestLabelAssigner", "level1": "runs-empty", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "terms": {"loss/objectness": "the assigner changes the labels the view sees", "loss/view": "the assigner changes the labels the view sees", "loss/score": "the assigner changes the labels the head sees", "loss/angle": "the assigner changes the labels the head sees", "loss/width": "the assigner changes the labels the head sees", "loss/tolerance": "the assigner changes the labels the head sees"}, "rise": {"loss/objectness": -0.105, "loss/view": -0.017, "loss/score": -0.043, "loss/angle": -0.07, "loss/width": -0.119, "loss/tolerance": -0.175}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__assigner__NearestLabelAssigner.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set assigner=NearestLabelAssigner -o stage__Scale-Balanced-Grasp__assigner__NearestLabelAssigner.yaml", "config_hash": "96680661345ee2e6", "run": "2026-10-17@c43ea39", "seconds": 122.7},
  {"id": "stage/GSNet/grouper/ball", "kind": "grouper", "method": "GSNet", "option": "grouper=ball", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1553, 0.1562, 0.994], "loss/graspness": [0.07519, 0.07598, 0.99], "loss/view": [0.8337, 0.8476, 0.984], "loss/score": [0.03087, 0.0313, 0.986], "loss/width": [0.1015, 0.101, 1.005]}, "rise": {"loss/objectness": -0.215, "loss/graspness": -0.353, "loss/view": 0.172, "loss/score": 0.151, "loss/width": -0.072}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0748, 0.07796, 0.06826, 0.07694], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=ball -o stage__GSNet__grouper__ball.yaml", "config_hash": "bbb8d8c6fbe316d6", "run": "2026-10-17@c43ea39", "seconds": 206.4},
  {"id": "stage/EconomicGrasp/grouper/ball", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=ball", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1362, 0.1259, 1.082], "loss/graspness": [0.06666, 0.06338, 1.052], "loss/view": [0.8555, 0.8303, 1.03], "loss/angle": [1.467, 1.543, 0.951], "loss/depth": [0.7321, 0.7779, 0.941], "loss/score": [1.225, 1.31, 0.936], "loss/width": [0.4893, 0.5737, 0.853]}, "rise": {"loss/objectness": -0.082, "loss/graspness": -0.29, "loss/view": 0.021, "loss/angle": -0.019, "loss/depth": 0.011, "loss/score": -0.013, "loss/width": -0.154}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.4791, 0.219, -0.2055, 0.7303], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=ball -o stage__EconomicGrasp__grouper__ball.yaml", "config_hash": "cffb1240e6f0bdd8", "run": "2026-10-17@c43ea39", "seconds": 189.3},
  {"id": "stage/FineGrasp/grouper/ball", "kind": "grouper", "method": "FineGrasp", "option": "grouper=ball", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.305x the reference (tolerance 1.25)", "loss/depth 1.338x the reference (tolerance 1.25)", "loss/score 1.316x the reference (tolerance 1.25)", "loss/width 1.395x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1001, 0.08986, 1.114], "loss/graspness": [0.04962, 0.04722, 1.051], "loss/view": [0.7458, 0.7334, 1.017], "loss/angle": [1.222, 0.9369, 1.305], "loss/depth": [0.5837, 0.4363, 1.338], "loss/score": [1.069, 0.8125, 1.316], "loss/width": [0.4396, 0.3151, 1.395]}, "rise": {"loss/objectness": -0.142, "loss/graspness": -0.286, "loss/view": -0.019, "loss/angle": -0.089, "loss/depth": -0.109, "loss/score": -0.097, "loss/width": -0.226}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.8806, -0.708, -0.8093, -0.6009], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=ball -o stage__FineGrasp__grouper__ball.yaml", "config_hash": "8aaa2b3f079a98c5", "run": "2026-10-17@c43ea39", "seconds": 591.1},
  {"id": "stage/GraspNet-baseline/grouper/ball", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=ball", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.51x, loss/tolerance 0.39x"], "terms": {"loss/objectness": [0.4599, 0.3739, 1.23], "loss/view": [0.03158, 0.02976, 1.061], "loss/score": [0.02395, 0.02246, 1.066], "loss/angle": [0.3837, 0.3337, 1.15], "loss/width": [0.006575, 0.01289, 0.51], "loss/tolerance": [0.007904, 0.02008, 0.394]}, "rise": {"loss/objectness": -0.064, "loss/view": -0.046, "loss/score": -0.026, "loss/angle": -0.034, "loss/width": -0.289, "loss/tolerance": -0.314}, "grasps_per_frame": [562, 47, 528, 506], "no_gradient": [], "unchanged": [], "score_median": [0.1136, 0.1262, 0.1483, 0.1263], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=ball -o stage__GraspNet-baseline__grouper__ball.yaml", "config_hash": "17473cee4c8ed0d7", "run": "2026-10-17@c43ea39", "seconds": 89.7},
  {"id": "stage/Scale-Balanced-Grasp/grouper/ball", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=ball", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.47x, loss/tolerance 0.78x"], "terms": {"loss/objectness": [0.203, 0.1975, 1.028], "loss/view": [0.08174, 0.08244, 0.992], "loss/score": [0.01556, 0.01418, 1.097], "loss/angle": [0.3689, 0.3132, 1.178], "loss/width": [0.005401, 0.01146, 0.472], "loss/tolerance": [0.005529, 0.007067, 0.782]}, "rise": {"loss/objectness": -0.116, "loss/view": -0.019, "loss/score": -0.013, "loss/angle": -0.027, "loss/width": -0.23, "loss/tolerance": -0.191}, "grasps_per_frame": [140, 162, 128, 130], "no_gradient": [], "unchanged": [], "score_median": [0.007925, 0.01086, 0.0893, 0.1208], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=ball -o stage__Scale-Balanced-Grasp__grouper__ball.yaml", "config_hash": "9c52b2de83c4ac90", "run": "2026-10-17@c43ea39", "seconds": 119.8},
  {"id": "stage/GSNet/grouper/box", "kind": "grouper", "method": "GSNet", "option": "grouper=box", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1602, 0.1562, 1.026], "loss/graspness": [0.07634, 0.07598, 1.005], "loss/view": [0.8422, 0.8476, 0.994], "loss/score": [0.02971, 0.0313, 0.949], "loss/width": [0.1026, 0.101, 1.015]}, "rise": {"loss/objectness": -0.177, "loss/graspness": -0.372, "loss/view": 0.223, "loss/score": 0.184, "loss/width": -0.073}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06103, 0.066, 0.06724, 0.06247], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=box -o stage__GSNet__grouper__box.yaml", "config_hash": "2003d8115c16a4a8", "run": "2026-10-17@c43ea39", "seconds": 195.6},
  {"id": "stage/EconomicGrasp/grouper/box", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=box", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.73x"], "terms": {"loss/objectness": [0.1155, 0.1259, 0.917], "loss/graspness": [0.04639, 0.06338, 0.732], "loss/view": [0.8532, 0.8303, 1.028], "loss/angle": [1.665, 1.543, 1.079], "loss/depth": [0.8424, 0.7779, 1.083], "loss/score": [1.415, 1.31, 1.08], "loss/width": [0.5808, 0.5737, 1.012]}, "rise": {"loss/objectness": -0.143, "loss/graspness": -0.419, "loss/view": 0.022, "loss/angle": 0.067, "loss/depth": 0.055, "loss/score": 0.082, "loss/width": -0.118}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.6919, -0.6654, -0.6837, -0.477], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=box -o stage__EconomicGrasp__grouper__box.yaml", "config_hash": "bee5bb7167fec441", "run": "2026-10-17@c43ea39", "seconds": 204.7},
  {"id": "stage/FineGrasp/grouper/box", "kind": "grouper", "method": "FineGrasp", "option": "grouper=box", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.266x the reference (tolerance 1.25)", "loss/graspness 1.398x the reference (tolerance 1.25)", "loss/angle 1.364x the reference (tolerance 1.25)", "loss/depth 1.422x the reference (tolerance 1.25)", "loss/score 1.393x the reference (tolerance 1.25)", "loss/width 1.617x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1138, 0.08986, 1.266], "loss/graspness": [0.06599, 0.04722, 1.398], "loss/view": [0.7265, 0.7334, 0.991], "loss/angle": [1.278, 0.9369, 1.364], "loss/depth": [0.6205, 0.4363, 1.422], "loss/score": [1.132, 0.8125, 1.393], "loss/width": [0.5095, 0.3151, 1.617]}, "rise": {"loss/objectness": 0.055, "loss/graspness": -0.11, "loss/view": -0.015, "loss/angle": -0.099, "loss/depth": -0.121, "loss/score": -0.084, "loss/width": -0.197}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7857, -0.7411, -0.7826, -0.4171], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=box -o stage__FineGrasp__grouper__box.yaml", "config_hash": "0bdf9b43de803462", "run": "2026-10-17@c43ea39", "seconds": 484.3},
  {"id": "stage/GraspNet-baseline/grouper/box", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=box", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.64x, loss/tolerance 0.36x"], "terms": {"loss/objectness": [0.4623, 0.3739, 1.237], "loss/view": [0.03116, 0.02976, 1.047], "loss/score": [0.02421, 0.02246, 1.078], "loss/angle": [0.38, 0.3337, 1.139], "loss/width": [0.008245, 0.01289, 0.64], "loss/tolerance": [0.007316, 0.02008, 0.364]}, "rise": {"loss/objectness": -0.066, "loss/view": -0.05, "loss/score": -0.077, "loss/angle": -0.03, "loss/width": -0.005, "loss/tolerance": -0.321}, "grasps_per_frame": [443, 286, 332, 198], "no_gradient": [], "unchanged": [], "score_median": [-0.03658, 0.01575, 0.01917, 0.1839], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=box -o stage__GraspNet-baseline__grouper__box.yaml", "config_hash": "d4ecc8af62626b9f", "run": "2026-10-17@c43ea39", "seconds": 110.4},
  {"id": "stage/Scale-Balanced-Grasp/grouper/box", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=box", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.49x"], "terms": {"loss/objectness": [0.2069, 0.1975, 1.048], "loss/view": [0.08239, 0.08244, 0.999], "loss/score": [0.01657, 0.01418, 1.169], "loss/angle": [0.3718, 0.3132, 1.187], "loss/width": [0.005614, 0.01146, 0.49], "loss/tolerance": [0.006313, 0.007067, 0.893]}, "rise": {"loss/objectness": -0.108, "loss/view": -0.012, "loss/score": 0.004, "loss/angle": -0.028, "loss/width": -0.166, "loss/tolerance": -0.196}, "grasps_per_frame": [52, 63, 56, 45], "no_gradient": [], "unchanged": [], "score_median": [0.07048, 0.2237, 0.137, 0.1757], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=box -o stage__Scale-Balanced-Grasp__grouper__box.yaml", "config_hash": "fd8caefd6ef099b8", "run": "2026-10-17@c43ea39", "seconds": 148.8},
  {"id": "stage/GSNet/grouper/cylinder-attentive", "kind": "grouper", "method": "GSNet", "option": "grouper=cylinder-attentive", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1653, 0.1562, 1.059], "loss/graspness": [0.09184, 0.07598, 1.209], "loss/view": [0.793, 0.8476, 0.936], "loss/score": [0.02576, 0.0313, 0.823], "loss/width": [0.1134, 0.101, 1.122]}, "rise": {"loss/objectness": -0.245, "loss/graspness": -0.325, "loss/view": 0.181, "loss/score": 0.218, "loss/width": -0.101}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05327, 0.05811, 0.05785, 0.06385], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=cylinder-attentive -o stage__GSNet__grouper__cylinder-attentive.yaml", "config_hash": "f8111784c92f0c54", "run": "2026-10-17@c43ea39", "seconds": 237.0},
  {"id": "stage/EconomicGrasp/grouper/cylinder-attentive", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=cylinder-attentive", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.306x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1374, 0.1259, 1.091], "loss/graspness": [0.08279, 0.06338, 1.306], "loss/view": [0.8179, 0.8303, 0.985], "loss/angle": [1.419, 1.543, 0.919], "loss/depth": [0.7018, 0.7779, 0.902], "loss/score": [1.211, 1.31, 0.925], "loss/width": [0.5777, 0.5737, 1.007]}, "rise": {"loss/objectness": -0.156, "loss/graspness": -0.338, "loss/view": 0.042, "loss/angle": -0.027, "loss/depth": -0.027, "loss/score": -0.022, "loss/width": -0.095}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.505, -1.111, -1.23, -1.194], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=cylinder-attentive -o stage__EconomicGrasp__grouper__cylinder-attentive.yaml", "config_hash": "afe5e64422508842", "run": "2026-10-17@c43ea39", "seconds": 233.1},
  {"id": "stage/FineGrasp/grouper/cylinder-attentive", "kind": "grouper", "method": "FineGrasp", "option": "grouper=cylinder-attentive", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1016, 0.08986, 1.13], "loss/graspness": [0.05224, 0.04722, 1.106], "loss/view": [0.7504, 0.7334, 1.023], "loss/angle": [1.025, 0.9369, 1.094], "loss/depth": [0.4768, 0.4363, 1.093], "loss/score": [0.8903, 0.8125, 1.096], "loss/width": [0.3812, 0.3151, 1.21]}, "rise": {"loss/objectness": -0.104, "loss/graspness": -0.17, "loss/view": 0.001, "loss/angle": -0.172, "loss/depth": -0.189, "loss/score": -0.166, "loss/width": -0.24}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.443, -2.337, -3.26, -2.29], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=cylinder-attentive -o stage__FineGrasp__grouper__cylinder-attentive.yaml", "config_hash": "ef70f701f8b95813", "run": "2026-10-17@c43ea39", "seconds": 444.3},
  {"id": "stage/GraspNet-baseline/grouper/cylinder-attentive", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=cylinder-attentive", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.42x, loss/tolerance 0.27x"], "terms": {"loss/objectness": [0.4571, 0.3739, 1.223], "loss/view": [0.0315, 0.02976, 1.058], "loss/score": [0.02531, 0.02246, 1.127], "loss/angle": [0.3829, 0.3337, 1.147], "loss/width": [0.005442, 0.01289, 0.422], "loss/tolerance": [0.005445, 0.02008, 0.271]}, "rise": {"loss/objectness": -0.066, "loss/view": -0.051, "loss/score": -0.004, "loss/angle": -0.042, "loss/width": -0.259, "loss/tolerance": -0.243}, "grasps_per_frame": [389, 282, 373, 203], "no_gradient": [], "unchanged": [], "score_median": [0.1307, 0.1788, 0.1269, -0.1841], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=cylinder-attentive -o stage__GraspNet-baseline__grouper__cylinder-attentive.yaml", "config_hash": "b7e1b037b438c2a8", "run": "2026-10-17@c43ea39", "seconds": 117.9},
  {"id": "stage/Scale-Balanced-Grasp/grouper/cylinder-attentive", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=cylinder-attentive", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.57x, loss/tolerance 0.65x"], "terms": {"loss/objectness": [0.202, 0.1975, 1.023], "loss/view": [0.08219, 0.08244, 0.997], "loss/score": [0.01719, 0.01418, 1.212], "loss/angle": [0.37, 0.3132, 1.181], "loss/width": [0.006566, 0.01146, 0.573], "loss/tolerance": [0.004611, 0.007067, 0.653]}, "rise": {"loss/objectness": -0.106, "loss/view": -0.018, "loss/score": -0.005, "loss/angle": -0.019, "loss/width": -0.019, "loss/tolerance": -0.105}, "grasps_per_frame": [137, 115, 71, 32], "no_gradient": [], "unchanged": [], "score_median": [0.0122, 0.07034, 0.00415, 0.07885], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=cylinder-attentive -o stage__Scale-Balanced-Grasp__grouper__cylinder-attentive.yaml", "config_hash": "d02a475d32f55ff8", "run": "2026-10-17@c43ea39", "seconds": 152.0},
  {"id": "stage/GSNet/grouper/cylinder-edgeconv", "kind": "grouper", "method": "GSNet", "option": "grouper=cylinder-edgeconv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1553, 0.1562, 0.995], "loss/graspness": [0.07868, 0.07598, 1.036], "loss/view": [0.856, 0.8476, 1.01], "loss/score": [0.02999, 0.0313, 0.958], "loss/width": [0.09707, 0.101, 0.961]}, "rise": {"loss/objectness": -0.234, "loss/graspness": -0.394, "loss/view": 0.242, "loss/score": 0.351, "loss/width": -0.086}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05668, 0.05825, 0.05837, 0.05914], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__cylinder-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=cylinder-edgeconv -o stage__GSNet__grouper__cylinder-edgeconv.yaml", "config_hash": "ee2d0628bc4ca911", "run": "2026-10-17@c43ea39", "seconds": 240.4},
  {"id": "stage/EconomicGrasp/grouper/cylinder-edgeconv", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=cylinder-edgeconv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.67x"], "terms": {"loss/objectness": [0.1123, 0.1259, 0.892], "loss/graspness": [0.04233, 0.06338, 0.668], "loss/view": [0.8632, 0.8303, 1.04], "loss/angle": [1.638, 1.543, 1.062], "loss/depth": [0.8386, 0.7779, 1.078], "loss/score": [1.388, 1.31, 1.06], "loss/width": [0.5738, 0.5737, 1.0]}, "rise": {"loss/objectness": -0.137, "loss/graspness": -0.337, "loss/view": 0.017, "loss/angle": 0.079, "loss/depth": 0.079, "loss/score": 0.088, "loss/width": -0.116}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.04184, 0.347, 0.4772, 0.6524], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__cylinder-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=cylinder-edgeconv -o stage__EconomicGrasp__grouper__cylinder-edgeconv.yaml", "config_hash": "7fee8652c7a3accb", "run": "2026-10-17@c43ea39", "seconds": 229.9},
  {"id": "stage/FineGrasp/grouper/cylinder-edgeconv", "kind": "grouper", "method": "FineGrasp", "option": "grouper=cylinder-edgeconv", "level1": "runs", "outcome": "diverging", "reasons": ["loss/objectness rises +18 % over the last half; the reference -17 %", "loss/graspness rises +22 % over the last half; the reference -28 %", "loss/objectness 1.456x the reference (tolerance 1.25)", "loss/graspness 2.263x the reference (tolerance 1.25)", "loss/angle 1.466x the reference (tolerance 1.25)", "loss/depth 1.600x the reference (tolerance 1.25)", "loss/score 1.479x the reference (tolerance 1.25)", "loss/width 2.220x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1309, 0.08986, 1.456], "loss/graspness": [0.1068, 0.04722, 2.263], "loss/view": [0.7473, 0.7334, 1.019], "loss/angle": [1.374, 0.9369, 1.466], "loss/depth": [0.698, 0.4363, 1.6], "loss/score": [1.202, 0.8125, 1.479], "loss/width": [0.6994, 0.3151, 2.22]}, "rise": {"loss/objectness": 0.177, "loss/graspness": 0.218, "loss/view": -0.005, "loss/angle": -0.051, "loss/depth": -0.05, "loss/score": -0.036, "loss/width": -0.058}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.453, -1.407, -1.531, -1.109], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__cylinder-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=cylinder-edgeconv -o stage__FineGrasp__grouper__cylinder-edgeconv.yaml", "config_hash": "c3c6d5d7d0e6ccd7", "run": "2026-10-17@c43ea39", "seconds": 441.0},
  {"id": "stage/GraspNet-baseline/grouper/cylinder-edgeconv", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=cylinder-edgeconv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.47x, loss/tolerance 0.35x"], "terms": {"loss/objectness": [0.4581, 0.3739, 1.225], "loss/view": [0.03132, 0.02976, 1.053], "loss/score": [0.02554, 0.02246, 1.137], "loss/angle": [0.382, 0.3337, 1.145], "loss/width": [0.006012, 0.01289, 0.466], "loss/tolerance": [0.00712, 0.02008, 0.355]}, "rise": {"loss/objectness": -0.07, "loss/view": -0.038, "loss/score": 0.019, "loss/angle": -0.051, "loss/width": -0.133, "loss/tolerance": -0.214}, "grasps_per_frame": [528, 259, 274, 321], "no_gradient": [], "unchanged": [], "score_median": [0.07724, 0.1123, 0.1237, 0.1543], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__cylinder-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=cylinder-edgeconv -o stage__GraspNet-baseline__grouper__cylinder-edgeconv.yaml", "config_hash": "637db81777b01926", "run": "2026-10-17@c43ea39", "seconds": 105.0},
  {"id": "stage/Scale-Balanced-Grasp/grouper/cylinder-edgeconv", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=cylinder-edgeconv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.38x, loss/tolerance 0.58x"], "terms": {"loss/objectness": [0.2017, 0.1975, 1.022], "loss/view": [0.08176, 0.08244, 0.992], "loss/score": [0.01565, 0.01418, 1.103], "loss/angle": [0.3695, 0.3132, 1.18], "loss/width": [0.0044, 0.01146, 0.384], "loss/tolerance": [0.0041, 0.007067, 0.58]}, "rise": {"loss/objectness": -0.1, "loss/view": -0.014, "loss/score": -0.03, "loss/angle": -0.02, "loss/width": -0.0, "loss/tolerance": -0.135}, "grasps_per_frame": [98, 58, 82, 74], "no_gradient": [], "unchanged": [], "score_median": [0.08036, 0.2033, 0.07608, 0.2328], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__cylinder-edgeconv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=cylinder-edgeconv -o stage__Scale-Balanced-Grasp__grouper__cylinder-edgeconv.yaml", "config_hash": "34e5d20090971014", "run": "2026-10-17@c43ea39", "seconds": 147.2},
  {"id": "stage/GSNet/grouper/cylinder-invres", "kind": "grouper", "method": "GSNet", "option": "grouper=cylinder-invres", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +50 % over the last half; the reference +20 %"], "terms": {"loss/objectness": [0.1612, 0.1562, 1.032], "loss/graspness": [0.08606, 0.07598, 1.133], "loss/view": [0.8298, 0.8476, 0.979], "loss/score": [0.02695, 0.0313, 0.861], "loss/width": [0.09998, 0.101, 0.989]}, "rise": {"loss/objectness": -0.253, "loss/graspness": -0.364, "loss/view": 0.232, "loss/score": 0.498, "loss/width": -0.093}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03939, 0.04039, 0.04204, 0.0436], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__cylinder-invres.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=cylinder-invres -o stage__GSNet__grouper__cylinder-invres.yaml", "config_hash": "a6795a3f70454042", "run": "2026-10-17@c43ea39", "seconds": 248.1},
  {"id": "stage/EconomicGrasp/grouper/cylinder-invres", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=cylinder-invres", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1292, 0.1259, 1.027], "loss/graspness": [0.06263, 0.06338, 0.988], "loss/view": [0.8325, 0.8303, 1.003], "loss/angle": [1.488, 1.543, 0.964], "loss/depth": [0.7597, 0.7779, 0.977], "loss/score": [1.271, 1.31, 0.97], "loss/width": [0.563, 0.5737, 0.981]}, "rise": {"loss/objectness": -0.111, "loss/graspness": -0.269, "loss/view": 0.019, "loss/angle": 0.072, "loss/depth": 0.085, "loss/score": 0.069, "loss/width": -0.121}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.196, -1.027, -1.159, -0.9339], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__cylinder-invres.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=cylinder-invres -o stage__EconomicGrasp__grouper__cylinder-invres.yaml", "config_hash": "e0456b2a6594cab2", "run": "2026-10-17@c43ea39", "seconds": 240.9},
  {"id": "stage/FineGrasp/grouper/cylinder-invres", "kind": "grouper", "method": "FineGrasp", "option": "grouper=cylinder-invres", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09961, 0.08986, 1.108], "loss/graspness": [0.05018, 0.04722, 1.063], "loss/view": [0.7421, 0.7334, 1.012], "loss/angle": [0.9829, 0.9369, 1.049], "loss/depth": [0.468, 0.4363, 1.073], "loss/score": [0.8646, 0.8125, 1.064], "loss/width": [0.3625, 0.3151, 1.15]}, "rise": {"loss/objectness": -0.159, "loss/graspness": -0.355, "loss/view": -0.012, "loss/angle": -0.187, "loss/depth": -0.211, "loss/score": -0.176, "loss/width": -0.329}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.561, -4.386, -4.297, -4.116], "checked": [16, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__cylinder-invres.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=cylinder-invres -o stage__FineGrasp__grouper__cylinder-invres.yaml", "config_hash": "10df4af13f0bb132", "run": "2026-10-17@c43ea39", "seconds": 439.6},
  {"id": "stage/GraspNet-baseline/grouper/cylinder-invres", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=cylinder-invres", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.258x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.40x, loss/tolerance 0.24x"], "terms": {"loss/objectness": [0.4704, 0.3739, 1.258], "loss/view": [0.03148, 0.02976, 1.058], "loss/score": [0.02488, 0.02246, 1.107], "loss/angle": [0.3849, 0.3337, 1.153], "loss/width": [0.005152, 0.01289, 0.4], "loss/tolerance": [0.004795, 0.02008, 0.239]}, "rise": {"loss/objectness": -0.058, "loss/view": -0.046, "loss/score": -0.03, "loss/angle": -0.025, "loss/width": -0.205, "loss/tolerance": -0.313}, "grasps_per_frame": [156, 67, 583, 212], "no_gradient": [], "unchanged": [], "score_median": [-0.2515, 0.04449, 0.1346, 0.0613], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__cylinder-invres.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=cylinder-invres -o stage__GraspNet-baseline__grouper__cylinder-invres.yaml", "config_hash": "50014184681cd00f", "run": "2026-10-17@c43ea39", "seconds": 93.7},
  {"id": "stage/Scale-Balanced-Grasp/grouper/cylinder-invres", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=cylinder-invres", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.67x, loss/tolerance 0.68x"], "terms": {"loss/objectness": [0.2107, 0.1975, 1.067], "loss/view": [0.08229, 0.08244, 0.998], "loss/score": [0.01562, 0.01418, 1.101], "loss/angle": [0.3691, 0.3132, 1.179], "loss/width": [0.007623, 0.01146, 0.665], "loss/tolerance": [0.004827, 0.007067, 0.683]}, "rise": {"loss/objectness": -0.094, "loss/view": -0.01, "loss/score": -0.091, "loss/angle": -0.022, "loss/width": 0.075, "loss/tolerance": -0.212}, "grasps_per_frame": [146, 111, 126, 129], "no_gradient": [], "unchanged": [], "score_median": [0.01043, 0.1074, 0.05778, 0.1295], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__cylinder-invres.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=cylinder-invres -o stage__Scale-Balanced-Grasp__grouper__cylinder-invres.yaml", "config_hash": "eefb830b29fcc69a", "run": "2026-10-17@c43ea39", "seconds": 141.0},
  {"id": "stage/GSNet/grouper/cylinder-vector-attention", "kind": "grouper", "method": "GSNet", "option": "grouper=cylinder-vector-attention", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +48 % over the last half; the reference +20 %"], "terms": {"loss/objectness": [0.1708, 0.1562, 1.094], "loss/graspness": [0.08398, 0.07598, 1.105], "loss/view": [0.8202, 0.8476, 0.968], "loss/score": [0.02626, 0.0313, 0.839], "loss/width": [0.08716, 0.101, 0.863]}, "rise": {"loss/objectness": -0.214, "loss/graspness": -0.329, "loss/view": 0.2, "loss/score": 0.478, "loss/width": -0.109}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04804, 0.04754, 0.0505, 0.04505], "checked": [17, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__cylinder-vector-attention.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=cylinder-vector-attention -o stage__GSNet__grouper__cylinder-vector-attention.yaml", "config_hash": "a3990abf248be5ae", "run": "2026-10-17@c43ea39", "seconds": 211.6},
  {"id": "stage/EconomicGrasp/grouper/cylinder-vector-attention", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=cylinder-vector-attention", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1196, 0.1259, 0.95], "loss/graspness": [0.0518, 0.06338, 0.817], "loss/view": [0.8719, 0.8303, 1.05], "loss/angle": [1.382, 1.543, 0.896], "loss/depth": [0.6992, 0.7779, 0.899], "loss/score": [1.185, 1.31, 0.905], "loss/width": [0.5332, 0.5737, 0.929]}, "rise": {"loss/objectness": -0.142, "loss/graspness": -0.45, "loss/view": 0.048, "loss/angle": 0.006, "loss/depth": -0.009, "loss/score": 0.018, "loss/width": -0.196}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.004, -2.846, -3.055, -2.501], "checked": [18, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__cylinder-vector-attention.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=cylinder-vector-attention -o stage__EconomicGrasp__grouper__cylinder-vector-attention.yaml", "config_hash": "05674ad7613ce592", "run": "2026-10-17@c43ea39", "seconds": 232.5},
  {"id": "stage/FineGrasp/grouper/cylinder-vector-attention", "kind": "grouper", "method": "FineGrasp", "option": "grouper=cylinder-vector-attention", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08323, 0.08986, 0.926], "loss/graspness": [0.05179, 0.04722, 1.097], "loss/view": [0.6777, 0.7334, 0.924], "loss/angle": [0.9884, 0.9369, 1.055], "loss/depth": [0.484, 0.4363, 1.109], "loss/score": [0.8757, 0.8125, 1.078], "loss/width": [0.3792, 0.3151, 1.204]}, "rise": {"loss/objectness": -0.184, "loss/graspness": -0.24, "loss/view": -0.076, "loss/angle": -0.124, "loss/depth": -0.111, "loss/score": -0.104, "loss/width": -0.205}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.932, -2.626, -3.725, -3.148], "checked": [18, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__cylinder-vector-attention.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=cylinder-vector-attention -o stage__FineGrasp__grouper__cylinder-vector-attention.yaml", "config_hash": "73dc0b81039f39ed", "run": "2026-10-17@c43ea39", "seconds": 447.8},
  {"id": "stage/GraspNet-baseline/grouper/cylinder-vector-attention", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=cylinder-vector-attention", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.43x, loss/tolerance 0.29x"], "terms": {"loss/objectness": [0.4441, 0.3739, 1.188], "loss/view": [0.03136, 0.02976, 1.054], "loss/score": [0.02402, 0.02246, 1.069], "loss/angle": [0.3742, 0.3337, 1.122], "loss/width": [0.005521, 0.01289, 0.428], "loss/tolerance": [0.005875, 0.02008, 0.293]}, "rise": {"loss/objectness": -0.046, "loss/view": -0.04, "loss/score": -0.055, "loss/angle": -0.028, "loss/width": -0.1, "loss/tolerance": -0.247}, "grasps_per_frame": [567, 34, 457, 503], "no_gradient": [], "unchanged": [], "score_median": [0.01831, -6.488, 0.01962, 0.1135], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__cylinder-vector-attention.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=cylinder-vector-attention -o stage__GraspNet-baseline__grouper__cylinder-vector-attention.yaml", "config_hash": "17313c454e3e72dd", "run": "2026-10-17@c43ea39", "seconds": 107.3},
  {"id": "stage/Scale-Balanced-Grasp/grouper/cylinder-vector-attention", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=cylinder-vector-attention", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.59x, loss/tolerance 0.75x"], "terms": {"loss/objectness": [0.1954, 0.1975, 0.989], "loss/view": [0.08305, 0.08244, 1.007], "loss/score": [0.01563, 0.01418, 1.102], "loss/angle": [0.3659, 0.3132, 1.168], "loss/width": [0.006742, 0.01146, 0.589], "loss/tolerance": [0.00528, 0.007067, 0.747]}, "rise": {"loss/objectness": -0.13, "loss/view": -0.022, "loss/score": 0.008, "loss/angle": -0.036, "loss/width": 0.104, "loss/tolerance": -0.323}, "grasps_per_frame": [260, 226, 252, 200], "no_gradient": [], "unchanged": [], "score_median": [0.004652, 0.03343, 0.1199, 0.07786], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__cylinder-vector-attention.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=cylinder-vector-attention -o stage__Scale-Balanced-Grasp__grouper__cylinder-vector-attention.yaml", "config_hash": "6e3a9cadae1af298", "run": "2026-10-17@c43ea39", "seconds": 121.6},
  {"id": "stage/GSNet/grouper/depth-ball", "kind": "grouper", "method": "GSNet", "option": "grouper=depth-ball", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.78x"], "terms": {"loss/objectness": [0.156, 0.1562, 0.999], "loss/graspness": [0.08197, 0.07598, 1.079], "loss/view": [0.8468, 0.8476, 0.999], "loss/score": [0.03029, 0.0313, 0.968], "loss/width": [0.0789, 0.101, 0.781]}, "rise": {"loss/objectness": -0.264, "loss/graspness": -0.355, "loss/view": 0.225, "loss/score": 0.348, "loss/width": -0.117}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06629, 0.06757, 0.06648, 0.068], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__depth-ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=depth-ball -o stage__GSNet__grouper__depth-ball.yaml", "config_hash": "6b8a4d116033b5e0", "run": "2026-10-17@c43ea39", "seconds": 194.2},
  {"id": "stage/EconomicGrasp/grouper/depth-ball", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=depth-ball", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.73x, loss/graspness 0.40x, loss/width 0.79x"], "terms": {"loss/objectness": [0.09146, 0.1259, 0.727], "loss/graspness": [0.02545, 0.06338, 0.402], "loss/view": [0.8506, 0.8303, 1.025], "loss/angle": [1.306, 1.543, 0.846], "loss/depth": [0.734, 0.7779, 0.944], "loss/score": [1.138, 1.31, 0.869], "loss/width": [0.452, 0.5737, 0.788]}, "rise": {"loss/objectness": -0.18, "loss/graspness": -0.479, "loss/view": -0.008, "loss/angle": -0.019, "loss/depth": 0.0, "loss/score": 0.029, "loss/width": -0.102}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [1.149, 1.402, 1.301, 1.412], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__depth-ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=depth-ball -o stage__EconomicGrasp__grouper__depth-ball.yaml", "config_hash": "2f91fe7e5c281d77", "run": "2026-10-17@c43ea39", "seconds": 226.5},
  {"id": "stage/FineGrasp/grouper/depth-ball", "kind": "grouper", "method": "FineGrasp", "option": "grouper=depth-ball", "level1": "runs", "outcome": "worse", "reasons": ["loss/depth 1.522x the reference (tolerance 1.25)", "loss/score 1.315x the reference (tolerance 1.25)", "loss/width 1.558x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.56x, loss/view 0.72x"], "terms": {"loss/objectness": [0.05001, 0.08986, 0.557], "loss/graspness": [0.04052, 0.04722, 0.858], "loss/view": [0.526, 0.7334, 0.717], "loss/angle": [1.156, 0.9369, 1.234], "loss/depth": [0.6639, 0.4363, 1.522], "loss/score": [1.069, 0.8125, 1.315], "loss/width": [0.491, 0.3151, 1.558]}, "rise": {"loss/objectness": -0.257, "loss/graspness": -0.138, "loss/view": -0.243, "loss/angle": -0.034, "loss/depth": -0.018, "loss/score": 0.018, "loss/width": -0.069}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.8401, -0.5999, -0.7433, -0.6914], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__depth-ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=depth-ball -o stage__FineGrasp__grouper__depth-ball.yaml", "config_hash": "c267c67be7ff708e", "run": "2026-10-17@c43ea39", "seconds": 456.6},
  {"id": "stage/GraspNet-baseline/grouper/depth-ball", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=depth-ball", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3611, 0.3739, 0.966], "loss/view": [0.02973, 0.02976, 0.999], "loss/score": [0.02235, 0.02246, 0.995], "loss/angle": [0.3378, 0.3337, 1.012], "loss/width": [0.01255, 0.01289, 0.974], "loss/tolerance": [0.01983, 0.02008, 0.988]}, "rise": {"loss/objectness": -0.097, "loss/view": -0.035, "loss/score": -0.046, "loss/angle": -0.031, "loss/width": -0.171, "loss/tolerance": -0.287}, "grasps_per_frame": [405, 312, 372, 368], "no_gradient": [], "unchanged": [], "score_median": [0.1287, 0.1203, 0.1614, 0.1309], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__depth-ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=depth-ball -o stage__GraspNet-baseline__grouper__depth-ball.yaml", "config_hash": "acf54181ef9d52b6", "run": "2026-10-17@c43ea39", "seconds": 110.1},
  {"id": "stage/Scale-Balanced-Grasp/grouper/depth-ball", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=depth-ball", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 2.880x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1664, 0.1975, 0.843], "loss/view": [0.08152, 0.08244, 0.989], "loss/score": [0.01401, 0.01418, 0.988], "loss/angle": [0.312, 0.3132, 0.996], "loss/width": [0.01343, 0.01146, 1.172], "loss/tolerance": [0.02036, 0.007067, 2.88]}, "rise": {"loss/objectness": -0.098, "loss/view": -0.019, "loss/score": -0.056, "loss/angle": -0.05, "loss/width": -0.16, "loss/tolerance": -0.221}, "grasps_per_frame": [183, 197, 115, 124], "no_gradient": [], "unchanged": [], "score_median": [-0.02586, 0.02817, -0.0009323, -0.03099], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__depth-ball.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=depth-ball -o stage__Scale-Balanced-Grasp__grouper__depth-ball.yaml", "config_hash": "f8d450a726784b3d", "run": "2026-10-17@c43ea39", "seconds": 145.2},
  {"id": "stage/GSNet/grouper/depth-box", "kind": "grouper", "method": "GSNet", "option": "grouper=depth-box", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.76x"], "terms": {"loss/objectness": [0.1583, 0.1562, 1.014], "loss/graspness": [0.0825, 0.07598, 1.086], "loss/view": [0.837, 0.8476, 0.987], "loss/score": [0.03084, 0.0313, 0.985], "loss/width": [0.07727, 0.101, 0.765]}, "rise": {"loss/objectness": -0.273, "loss/graspness": -0.362, "loss/view": 0.215, "loss/score": 0.347, "loss/width": -0.133}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07305, 0.07452, 0.07319, 0.07016], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__depth-box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=depth-box -o stage__GSNet__grouper__depth-box.yaml", "config_hash": "246602025c307546", "run": "2026-10-17@c43ea39", "seconds": 233.8},
  {"id": "stage/EconomicGrasp/grouper/depth-box", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=depth-box", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.56x, loss/width 0.79x"], "terms": {"loss/objectness": [0.1066, 0.1259, 0.847], "loss/graspness": [0.03562, 0.06338, 0.562], "loss/view": [0.844, 0.8303, 1.017], "loss/angle": [1.24, 1.543, 0.804], "loss/depth": [0.6512, 0.7779, 0.837], "loss/score": [1.048, 1.31, 0.8], "loss/width": [0.4505, 0.5737, 0.785]}, "rise": {"loss/objectness": -0.169, "loss/graspness": -0.445, "loss/view": -0.012, "loss/angle": 0.018, "loss/depth": 0.005, "loss/score": 0.04, "loss/width": -0.104}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.78, -0.9846, -1.78, -0.6021], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__depth-box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=depth-box -o stage__EconomicGrasp__grouper__depth-box.yaml", "config_hash": "11d29dfda25e9870", "run": "2026-10-17@c43ea39", "seconds": 223.2},
  {"id": "stage/FineGrasp/grouper/depth-box", "kind": "grouper", "method": "FineGrasp", "option": "grouper=depth-box", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.68x, loss/graspness 0.75x, loss/view 0.78x"], "terms": {"loss/objectness": [0.06101, 0.08986, 0.679], "loss/graspness": [0.03556, 0.04722, 0.753], "loss/view": [0.5734, 0.7334, 0.782], "loss/angle": [0.9499, 0.9369, 1.014], "loss/depth": [0.4728, 0.4363, 1.083], "loss/score": [0.8289, 0.8125, 1.02], "loss/width": [0.3357, 0.3151, 1.065]}, "rise": {"loss/objectness": -0.22, "loss/graspness": -0.334, "loss/view": -0.161, "loss/angle": -0.098, "loss/depth": -0.082, "loss/score": -0.073, "loss/width": -0.173}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.626, -2.822, -3.34, -3.025], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__depth-box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=depth-box -o stage__FineGrasp__grouper__depth-box.yaml", "config_hash": "5a7da377e93b4dad", "run": "2026-10-17@c43ea39", "seconds": 474.2},
  {"id": "stage/GraspNet-baseline/grouper/depth-box", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=depth-box", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.76x, loss/tolerance 0.38x"], "terms": {"loss/objectness": [0.4082, 0.3739, 1.092], "loss/view": [0.03025, 0.02976, 1.017], "loss/score": [0.02309, 0.02246, 1.028], "loss/angle": [0.339, 0.3337, 1.016], "loss/width": [0.009802, 0.01289, 0.76], "loss/tolerance": [0.007659, 0.02008, 0.381]}, "rise": {"loss/objectness": -0.056, "loss/view": -0.041, "loss/score": 0.005, "loss/angle": -0.034, "loss/width": -0.236, "loss/tolerance": -0.39}, "grasps_per_frame": [410, 239, 299, 416], "no_gradient": [], "unchanged": [], "score_median": [0.09366, 0.1048, 0.1286, 0.09136], "checked": [15, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__depth-box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=depth-box -o stage__GraspNet-baseline__grouper__depth-box.yaml", "config_hash": "daafed7fef405a60", "run": "2026-10-17@c43ea39", "seconds": 113.7},
  {"id": "stage/Scale-Balanced-Grasp/grouper/depth-box", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=depth-box", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.74x, loss/tolerance 0.66x"], "terms": {"loss/objectness": [0.177, 0.1975, 0.896], "loss/view": [0.08216, 0.08244, 0.997], "loss/score": [0.01428, 0.01418, 1.007], "loss/angle": [0.3389, 0.3132, 1.082], "loss/width": [0.008519, 0.01146, 0.744], "loss/tolerance": [0.004691, 0.007067, 0.664]}, "rise": {"loss/objectness": -0.116, "loss/view": -0.025, "loss/score": -0.006, "loss/angle": -0.043, "loss/width": -0.185, "loss/tolerance": -0.195}, "grasps_per_frame": [119, 180, 112, 118], "no_gradient": [], "unchanged": [], "score_median": [0.03288, 0.01483, 0.08894, 0.152], "checked": [13, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__depth-box.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=depth-box -o stage__Scale-Balanced-Grasp__grouper__depth-box.yaml", "config_hash": "505e3d0a1bee5611", "run": "2026-10-17@c43ea39", "seconds": 145.5},
  {"id": "stage/GSNet/grouper/depth-cylinder-attentive", "kind": "grouper", "method": "GSNet", "option": "grouper=depth-cylinder-attentive", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.70x"], "terms": {"loss/objectness": [0.1648, 0.1562, 1.055], "loss/graspness": [0.09102, 0.07598, 1.198], "loss/view": [0.8485, 0.8476, 1.001], "loss/score": [0.02662, 0.0313, 0.85], "loss/width": [0.07073, 0.101, 0.7]}, "rise": {"loss/objectness": -0.234, "loss/graspness": -0.367, "loss/view": 0.257, "loss/score": 0.389, "loss/width": -0.112}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06448, 0.06201, 0.06409, 0.06126], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__depth-cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-attentive -o stage__GSNet__grouper__depth-cylinder-attentive.yaml", "config_hash": "3ff885ea28c65bfe", "run": "2026-10-17@c43ea39", "seconds": 230.5},
  {"id": "stage/EconomicGrasp/grouper/depth-cylinder-attentive", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=depth-cylinder-attentive", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.56x, loss/angle 0.74x, loss/depth 0.76x, loss/score 0.77x, loss/width 0.72x"], "terms": {"loss/objectness": [0.1099, 0.1259, 0.873], "loss/graspness": [0.03548, 0.06338, 0.56], "loss/view": [0.8393, 0.8303, 1.011], "loss/angle": [1.141, 1.543, 0.74], "loss/depth": [0.5948, 0.7779, 0.765], "loss/score": [1.013, 1.31, 0.774], "loss/width": [0.4134, 0.5737, 0.721]}, "rise": {"loss/objectness": -0.16, "loss/graspness": -0.483, "loss/view": 0.009, "loss/angle": 0.046, "loss/depth": 0.045, "loss/score": 0.063, "loss/width": -0.146}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7279, -0.02215, -0.2478, -0.07483], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__depth-cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-attentive -o stage__EconomicGrasp__grouper__depth-cylinder-attentive.yaml", "config_hash": "f5a4bb50d3899213", "run": "2026-10-17@c43ea39", "seconds": 236.0},
  {"id": "stage/FineGrasp/grouper/depth-cylinder-attentive", "kind": "grouper", "method": "FineGrasp", "option": "grouper=depth-cylinder-attentive", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.72x, loss/graspness 0.79x"], "terms": {"loss/objectness": [0.0646, 0.08986, 0.719], "loss/graspness": [0.03721, 0.04722, 0.788], "loss/view": [0.6039, 0.7334, 0.823], "loss/angle": [0.8927, 0.9369, 0.953], "loss/depth": [0.4521, 0.4363, 1.036], "loss/score": [0.8109, 0.8125, 0.998], "loss/width": [0.3545, 0.3151, 1.125]}, "rise": {"loss/objectness": -0.26, "loss/graspness": -0.32, "loss/view": -0.125, "loss/angle": -0.107, "loss/depth": -0.087, "loss/score": -0.082, "loss/width": -0.178}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.263, -2.267, -2.905, -2.691], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__depth-cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-attentive -o stage__FineGrasp__grouper__depth-cylinder-attentive.yaml", "config_hash": "d0db9a83f94726a2", "run": "2026-10-17@c43ea39", "seconds": 490.6},
  {"id": "stage/GraspNet-baseline/grouper/depth-cylinder-attentive", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=depth-cylinder-attentive", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.63x, loss/tolerance 0.30x"], "terms": {"loss/objectness": [0.4299, 0.3739, 1.15], "loss/view": [0.03078, 0.02976, 1.034], "loss/score": [0.02373, 0.02246, 1.057], "loss/angle": [0.344, 0.3337, 1.031], "loss/width": [0.008175, 0.01289, 0.634], "loss/tolerance": [0.00601, 0.02008, 0.299]}, "rise": {"loss/objectness": -0.078, "loss/view": -0.042, "loss/score": -0.002, "loss/angle": -0.037, "loss/width": -0.173, "loss/tolerance": -0.355}, "grasps_per_frame": [252, 279, 397, 459], "no_gradient": [], "unchanged": [], "score_median": [0.09819, 0.06504, 0.001587, 0.103], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__depth-cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=depth-cylinder-attentive -o stage__GraspNet-baseline__grouper__depth-cylinder-attentive.yaml", "config_hash": "ef0b5de0fb90d976", "run": "2026-10-17@c43ea39", "seconds": 118.4},
  {"id": "stage/Scale-Balanced-Grasp/grouper/depth-cylinder-attentive", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=depth-cylinder-attentive", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.68x, loss/tolerance 0.79x"], "terms": {"loss/objectness": [0.1873, 0.1975, 0.948], "loss/view": [0.08335, 0.08244, 1.011], "loss/score": [0.01483, 0.01418, 1.046], "loss/angle": [0.3456, 0.3132, 1.104], "loss/width": [0.007776, 0.01146, 0.679], "loss/tolerance": [0.005601, 0.007067, 0.793]}, "rise": {"loss/objectness": -0.135, "loss/view": -0.017, "loss/score": -0.013, "loss/angle": -0.029, "loss/width": -0.0, "loss/tolerance": -0.115}, "grasps_per_frame": [254, 186, 260, 152], "no_gradient": [], "unchanged": [], "score_median": [0.03024, 0.09352, 0.1383, 0.1425], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__depth-cylinder-attentive.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=depth-cylinder-attentive -o stage__Scale-Balanced-Grasp__grouper__depth-cylinder-attentive.yaml", "config_hash": "0c848fa3ded51eeb", "run": "2026-10-17@c43ea39", "seconds": 146.3},
  {"id": "stage/GSNet/grouper/depth-cylinder-multi-scale", "kind": "grouper", "method": "GSNet", "option": "grouper=depth-cylinder-multi-scale", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.62x"], "terms": {"loss/objectness": [0.1605, 0.1562, 1.028], "loss/graspness": [0.08379, 0.07598, 1.103], "loss/view": [0.8397, 0.8476, 0.991], "loss/score": [0.02973, 0.0313, 0.95], "loss/width": [0.0624, 0.101, 0.618]}, "rise": {"loss/objectness": -0.233, "loss/graspness": -0.363, "loss/view": 0.229, "loss/score": 0.317, "loss/width": -0.189}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06774, 0.06943, 0.06836, 0.06626], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__depth-cylinder-multi-scale.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-multi-scale -o stage__GSNet__grouper__depth-cylinder-multi-scale.yaml", "config_hash": "fa5ae51e5e2f6a8b", "run": "2026-10-17@c43ea39", "seconds": 269.7},
  {"id": "stage/EconomicGrasp/grouper/depth-cylinder-multi-scale", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=depth-cylinder-multi-scale", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.78x, loss/graspness 0.52x, loss/width 0.78x"], "terms": {"loss/objectness": [0.0986, 0.1259, 0.783], "loss/graspness": [0.03295, 0.06338, 0.52], "loss/view": [0.8597, 0.8303, 1.035], "loss/angle": [1.281, 1.543, 0.83], "loss/depth": [0.6689, 0.7779, 0.86], "loss/score": [1.054, 1.31, 0.805], "loss/width": [0.4488, 0.5737, 0.782]}, "rise": {"loss/objectness": -0.137, "loss/graspness": -0.31, "loss/view": -0.002, "loss/angle": -0.004, "loss/depth": 0.004, "loss/score": 0.023, "loss/width": -0.077}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.832, -0.6443, -1.083, -0.2613], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__depth-cylinder-multi-scale.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-multi-scale -o stage__EconomicGrasp__grouper__depth-cylinder-multi-scale.yaml", "config_hash": "b20bb6a2843bc964", "run": "2026-10-17@c43ea39", "seconds": 286.4},
  {"id": "stage/FineGrasp/grouper/depth-cylinder-multi-scale", "kind": "grouper", "method": "FineGrasp", "option": "grouper=depth-cylinder-multi-scale", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.61x, loss/graspness 0.69x, loss/view 0.74x"], "terms": {"loss/objectness": [0.05486, 0.08986, 0.61], "loss/graspness": [0.03281, 0.04722, 0.695], "loss/view": [0.5455, 0.7334, 0.744], "loss/angle": [0.9345, 0.9369, 0.997], "loss/depth": [0.4609, 0.4363, 1.056], "loss/score": [0.8045, 0.8125, 0.99], "loss/width": [0.3261, 0.3151, 1.035]}, "rise": {"loss/objectness": -0.23, "loss/graspness": -0.131, "loss/view": -0.18, "loss/angle": -0.076, "loss/depth": -0.062, "loss/score": -0.054, "loss/width": -0.193}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.61, -1.88, -2.83, -2.054], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__depth-cylinder-multi-scale.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-multi-scale -o stage__FineGrasp__grouper__depth-cylinder-multi-scale.yaml", "config_hash": "594f5022a2a16929", "run": "2026-10-17@c43ea39", "seconds": 568.1},
  {"id": "stage/GraspNet-baseline/grouper/depth-cylinder-multi-scale", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=depth-cylinder-multi-scale", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.68x, loss/tolerance 0.48x"], "terms": {"loss/objectness": [0.403, 0.3739, 1.078], "loss/view": [0.03098, 0.02976, 1.041], "loss/score": [0.02127, 0.02246, 0.947], "loss/angle": [0.3184, 0.3337, 0.954], "loss/width": [0.008729, 0.01289, 0.677], "loss/tolerance": [0.009649, 0.02008, 0.481]}, "rise": {"loss/objectness": -0.078, "loss/view": -0.043, "loss/score": -0.069, "loss/angle": -0.065, "loss/width": -0.111, "loss/tolerance": -0.293}, "grasps_per_frame": [378, 334, 400, 345], "no_gradient": [], "unchanged": [], "score_median": [0.0396, 0.06809, 0.04258, 0.02315], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__depth-cylinder-multi-scale.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=depth-cylinder-multi-scale -o stage__GraspNet-baseline__grouper__depth-cylinder-multi-scale.yaml", "config_hash": "76ad1efc4e3c18b3", "run": "2026-10-17@c43ea39", "seconds": 140.7},
  {"id": "stage/GSNet/grouper/depth-cylinder-projection", "kind": "grouper", "method": "GSNet", "option": "grouper=depth-cylinder-projection", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.75x"], "terms": {"loss/objectness": [0.1535, 0.1562, 0.983], "loss/graspness": [0.08241, 0.07598, 1.085], "loss/view": [0.8296, 0.8476, 0.979], "loss/score": [0.02992, 0.0313, 0.956], "loss/width": [0.07532, 0.101, 0.745]}, "rise": {"loss/objectness": -0.268, "loss/graspness": -0.376, "loss/view": 0.24, "loss/score": 0.338, "loss/width": -0.15}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06834, 0.06876, 0.06907, 0.06901], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__depth-cylinder-projection.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-projection -o stage__GSNet__grouper__depth-cylinder-projection.yaml", "config_hash": "08ba0d5326c6c5dd", "run": "2026-10-17@c43ea39", "seconds": 248.0},
  {"id": "stage/EconomicGrasp/grouper/depth-cylinder-projection", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=depth-cylinder-projection", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.52x, loss/angle 0.78x, loss/score 0.80x, loss/width 0.72x"], "terms": {"loss/objectness": [0.1039, 0.1259, 0.825], "loss/graspness": [0.03287, 0.06338, 0.519], "loss/view": [0.8433, 0.8303, 1.016], "loss/angle": [1.206, 1.543, 0.781], "loss/depth": [0.6369, 0.7779, 0.819], "loss/score": [1.046, 1.31, 0.798], "loss/width": [0.4132, 0.5737, 0.72]}, "rise": {"loss/objectness": -0.176, "loss/graspness": -0.455, "loss/view": 0.007, "loss/angle": 0.002, "loss/depth": -0.01, "loss/score": 0.042, "loss/width": -0.118}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.6464, 0.7751, 0.8817, 1.129], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__depth-cylinder-projection.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-projection -o stage__EconomicGrasp__grouper__depth-cylinder-projection.yaml", "config_hash": "eec54a6cd028c1d0", "run": "2026-10-17@c43ea39", "seconds": 219.0},
  {"id": "stage/FineGrasp/grouper/depth-cylinder-projection", "kind": "grouper", "method": "FineGrasp", "option": "grouper=depth-cylinder-projection", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.65x, loss/graspness 0.75x, loss/view 0.80x"], "terms": {"loss/objectness": [0.058, 0.08986, 0.645], "loss/graspness": [0.03557, 0.04722, 0.753], "loss/view": [0.5852, 0.7334, 0.798], "loss/angle": [0.9315, 0.9369, 0.994], "loss/depth": [0.4624, 0.4363, 1.06], "loss/score": [0.8239, 0.8125, 1.014], "loss/width": [0.3481, 0.3151, 1.105]}, "rise": {"loss/objectness": -0.234, "loss/graspness": -0.212, "loss/view": -0.154, "loss/angle": -0.129, "loss/depth": -0.086, "loss/score": -0.06, "loss/width": -0.174}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.337, -1.758, -2.212, -2.355], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__depth-cylinder-projection.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=depth-cylinder-projection -o stage__FineGrasp__grouper__depth-cylinder-projection.yaml", "config_hash": "db23db23fed67543", "run": "2026-10-17@c43ea39", "seconds": 466.8},
  {"id": "stage/GraspNet-baseline/grouper/depth-cylinder-projection", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=depth-cylinder-projection", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.26x"], "terms": {"loss/objectness": [0.3824, 0.3739, 1.023], "loss/view": [0.0299, 0.02976, 1.005], "loss/score": [0.02207, 0.02246, 0.983], "loss/angle": [0.3196, 0.3337, 0.958], "loss/width": [0.01116, 0.01289, 0.866], "loss/tolerance": [0.005158, 0.02008, 0.257]}, "rise": {"loss/objectness": -0.067, "loss/view": -0.046, "loss/score": -0.058, "loss/angle": -0.06, "loss/width": -0.083, "loss/tolerance": -0.446}, "grasps_per_frame": [567, 324, 531, 400], "no_gradient": [], "unchanged": [], "score_median": [0.09369, 0.1165, 0.09373, 0.08898], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__depth-cylinder-projection.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=depth-cylinder-projection -o stage__GraspNet-baseline__grouper__depth-cylinder-projection.yaml", "config_hash": "30a89886ca9b74f2", "run": "2026-10-17@c43ea39", "seconds": 109.6},
  {"id": "stage/Scale-Balanced-Grasp/grouper/depth-cylinder-projection", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=depth-cylinder-projection", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.76x, loss/tolerance 0.69x"], "terms": {"loss/objectness": [0.1819, 0.1975, 0.921], "loss/view": [0.08321, 0.08244, 1.009], "loss/score": [0.01498, 0.01418, 1.056], "loss/angle": [0.3227, 0.3132, 1.03], "loss/width": [0.008763, 0.01146, 0.765], "loss/tolerance": [0.004902, 0.007067, 0.694]}, "rise": {"loss/objectness": -0.135, "loss/view": -0.018, "loss/score": -0.006, "loss/angle": -0.058, "loss/width": -0.093, "loss/tolerance": -0.062}, "grasps_per_frame": [134, 110, 92, 102], "no_gradient": [], "unchanged": [], "score_median": [0.02903, 0.0534, 0.04772, 0.03947], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__depth-cylinder-projection.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=depth-cylinder-projection -o stage__Scale-Balanced-Grasp__grouper__depth-cylinder-projection.yaml", "config_hash": "940cb79d03a63984", "run": "2026-10-17@c43ea39", "seconds": 135.1},
  {"id": "stage/GraspNet-baseline/grouper/depth-embed", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=depth-embed", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.275x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.55x, loss/tolerance 0.37x"], "terms": {"loss/objectness": [0.4766, 0.3739, 1.275], "loss/view": [0.03144, 0.02976, 1.057], "loss/score": [0.02438, 0.02246, 1.085], "loss/angle": [0.3838, 0.3337, 1.15], "loss/width": [0.00715, 0.01289, 0.555], "loss/tolerance": [0.007455, 0.02008, 0.371]}, "rise": {"loss/objectness": -0.067, "loss/view": -0.052, "loss/score": -0.026, "loss/angle": -0.013, "loss/width": -0.29, "loss/tolerance": -0.493}, "grasps_per_frame": [359, 420, 406, 157], "no_gradient": [], "unchanged": [], "score_median": [0.05257, 0.3412, 0.1489, 0.2978], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__depth-embed.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=depth-embed -o stage__GraspNet-baseline__grouper__depth-embed.yaml", "config_hash": "bc71f84f1e18f9c9", "run": "2026-10-17@c43ea39", "seconds": 104.9},
  {"id": "stage/Scale-Balanced-Grasp/grouper/depth-embed", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=depth-embed", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.56x"], "terms": {"loss/objectness": [0.2031, 0.1975, 1.028], "loss/view": [0.08235, 0.08244, 0.999], "loss/score": [0.01463, 0.01418, 1.032], "loss/angle": [0.3673, 0.3132, 1.173], "loss/width": [0.006422, 0.01146, 0.561], "loss/tolerance": [0.005787, 0.007067, 0.819]}, "rise": {"loss/objectness": -0.113, "loss/view": -0.015, "loss/score": -0.021, "loss/angle": -0.033, "loss/width": -0.104, "loss/tolerance": -0.232}, "grasps_per_frame": [230, 150, 214, 182], "no_gradient": [], "unchanged": [], "score_median": [0.003356, 0.1605, 0.1162, 0.08342], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__depth-embed.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=depth-embed -o stage__Scale-Balanced-Grasp__grouper__depth-embed.yaml", "config_hash": "109560f514863a44", "run": "2026-10-17@c43ea39", "seconds": 128.8},
  {"id": "stage/GSNet/grouper/depth-knn", "kind": "grouper", "method": "GSNet", "option": "grouper=depth-knn", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1556, 0.1562, 0.996], "loss/graspness": [0.0785, 0.07598, 1.033], "loss/view": [0.8572, 0.8476, 1.011], "loss/score": [0.02998, 0.0313, 0.958], "loss/width": [0.09458, 0.101, 0.936]}, "rise": {"loss/objectness": -0.258, "loss/graspness": -0.372, "loss/view": 0.221, "loss/score": 0.224, "loss/width": -0.084}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07062, 0.07176, 0.07012, 0.06618], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__depth-knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=depth-knn -o stage__GSNet__grouper__depth-knn.yaml", "config_hash": "637c1c73456d13cf", "run": "2026-10-17@c43ea39", "seconds": 226.6},
  {"id": "stage/EconomicGrasp/grouper/depth-knn", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=depth-knn", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.52x"], "terms": {"loss/objectness": [0.1041, 0.1259, 0.827], "loss/graspness": [0.03311, 0.06338, 0.522], "loss/view": [0.8442, 0.8303, 1.017], "loss/angle": [1.38, 1.543, 0.894], "loss/depth": [0.6913, 0.7779, 0.889], "loss/score": [1.122, 1.31, 0.857], "loss/width": [0.4766, 0.5737, 0.831]}, "rise": {"loss/objectness": -0.176, "loss/graspness": -0.445, "loss/view": -0.013, "loss/angle": 0.054, "loss/depth": 0.036, "loss/score": 0.061, "loss/width": -0.09}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.4568, -0.1061, -0.5327, -0.3712], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__depth-knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=depth-knn -o stage__EconomicGrasp__grouper__depth-knn.yaml", "config_hash": "1e7385d94c93b462", "run": "2026-10-17@c43ea39", "seconds": 198.1},
  {"id": "stage/FineGrasp/grouper/depth-knn", "kind": "grouper", "method": "FineGrasp", "option": "grouper=depth-knn", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.320x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.70x"], "terms": {"loss/objectness": [0.06274, 0.08986, 0.698], "loss/graspness": [0.0523, 0.04722, 1.108], "loss/view": [0.5928, 0.7334, 0.808], "loss/angle": [1.06, 0.9369, 1.131], "loss/depth": [0.5247, 0.4363, 1.202], "loss/score": [0.9207, 0.8125, 1.133], "loss/width": [0.416, 0.3151, 1.32]}, "rise": {"loss/objectness": -0.176, "loss/graspness": -0.016, "loss/view": -0.143, "loss/angle": -0.063, "loss/depth": -0.02, "loss/score": -0.032, "loss/width": -0.09}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.526, -2.203, -2.511, -2.407], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__depth-knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=depth-knn -o stage__FineGrasp__grouper__depth-knn.yaml", "config_hash": "7560c8484b8d4ffe", "run": "2026-10-17@c43ea39", "seconds": 465.7},
  {"id": "stage/GraspNet-baseline/grouper/depth-knn", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=depth-knn", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.57x"], "terms": {"loss/objectness": [0.3995, 0.3739, 1.069], "loss/view": [0.0305, 0.02976, 1.025], "loss/score": [0.02487, 0.02246, 1.107], "loss/angle": [0.3596, 0.3337, 1.078], "loss/width": [0.01054, 0.01289, 0.818], "loss/tolerance": [0.01147, 0.02008, 0.571]}, "rise": {"loss/objectness": -0.084, "loss/view": -0.044, "loss/score": -0.011, "loss/angle": -0.034, "loss/width": -0.136, "loss/tolerance": -0.336}, "grasps_per_frame": [463, 322, 423, 371], "no_gradient": [], "unchanged": [], "score_median": [0.1843, 0.1738, 0.1417, 0.1119], "checked": [15, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__depth-knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=depth-knn -o stage__GraspNet-baseline__grouper__depth-knn.yaml", "config_hash": "a93f1b70cfcf2963", "run": "2026-10-17@c43ea39", "seconds": 104.4},
  {"id": "stage/Scale-Balanced-Grasp/grouper/depth-knn", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=depth-knn", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.62x, loss/tolerance 0.70x"], "terms": {"loss/objectness": [0.1768, 0.1975, 0.895], "loss/view": [0.08208, 0.08244, 0.996], "loss/score": [0.0166, 0.01418, 1.171], "loss/angle": [0.3576, 0.3132, 1.142], "loss/width": [0.007151, 0.01146, 0.624], "loss/tolerance": [0.004975, 0.007067, 0.704]}, "rise": {"loss/objectness": -0.14, "loss/view": -0.026, "loss/score": 0.026, "loss/angle": -0.028, "loss/width": -0.381, "loss/tolerance": -0.144}, "grasps_per_frame": [226, 262, 245, 156], "no_gradient": [], "unchanged": [], "score_median": [0.008175, 0.08736, 0.0697, 0.2187], "checked": [13, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__depth-knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=depth-knn -o stage__Scale-Balanced-Grasp__grouper__depth-knn.yaml", "config_hash": "8bde386c75d85b30", "run": "2026-10-17@c43ea39", "seconds": 121.4},
  {"id": "stage/GSNet/grouper/depth-pool", "kind": "grouper", "method": "GSNet", "option": "grouper=depth-pool", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.80x"], "terms": {"loss/objectness": [0.1611, 0.1562, 1.032], "loss/graspness": [0.08587, 0.07598, 1.13], "loss/view": [0.8387, 0.8476, 0.989], "loss/score": [0.03099, 0.0313, 0.99], "loss/width": [0.08083, 0.101, 0.8]}, "rise": {"loss/objectness": -0.246, "loss/graspness": -0.356, "loss/view": 0.223, "loss/score": 0.369, "loss/width": -0.138}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07071, 0.06968, 0.07079, 0.07342], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__depth-pool.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=depth-pool -o stage__GSNet__grouper__depth-pool.yaml", "config_hash": "6b84d870d7740d5f", "run": "2026-10-17@c43ea39", "seconds": 199.3},
  {"id": "stage/EconomicGrasp/grouper/depth-pool", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=depth-pool", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.73x, loss/graspness 0.41x, loss/width 0.77x"], "terms": {"loss/objectness": [0.0915, 0.1259, 0.727], "loss/graspness": [0.02629, 0.06338, 0.415], "loss/view": [0.8534, 0.8303, 1.028], "loss/angle": [1.286, 1.543, 0.833], "loss/depth": [0.7135, 0.7779, 0.917], "loss/score": [1.121, 1.31, 0.856], "loss/width": [0.4406, 0.5737, 0.768]}, "rise": {"loss/objectness": -0.185, "loss/graspness": -0.468, "loss/view": -0.005, "loss/angle": 0.008, "loss/depth": 0.009, "loss/score": 0.041, "loss/width": -0.089}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [1.462, 1.556, 1.394, 1.588], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__depth-pool.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=depth-pool -o stage__EconomicGrasp__grouper__depth-pool.yaml", "config_hash": "b850092381a14d99", "run": "2026-10-17@c43ea39", "seconds": 226.3},
  {"id": "stage/FineGrasp/grouper/depth-pool", "kind": "grouper", "method": "FineGrasp", "option": "grouper=depth-pool", "level1": "runs", "outcome": "worse", "reasons": ["loss/depth 1.273x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.54x, loss/graspness 0.46x, loss/view 0.68x"], "terms": {"loss/objectness": [0.04826, 0.08986, 0.537], "loss/graspness": [0.02157, 0.04722, 0.457], "loss/view": [0.5017, 0.7334, 0.684], "loss/angle": [0.9941, 0.9369, 1.061], "loss/depth": [0.5556, 0.4363, 1.273], "loss/score": [0.9309, 0.8125, 1.146], "loss/width": [0.3748, 0.3151, 1.19]}, "rise": {"loss/objectness": -0.22, "loss/graspness": -0.096, "loss/view": -0.223, "loss/angle": -0.066, "loss/depth": -0.051, "loss/score": -0.021, "loss/width": -0.137}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.9972, 1.351, 1.118, 1.037], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__depth-pool.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=depth-pool -o stage__FineGrasp__grouper__depth-pool.yaml", "config_hash": "5c2965903ecf1b9e", "run": "2026-10-17@c43ea39", "seconds": 466.2},
  {"id": "stage/GSNet/grouper/knn", "kind": "grouper", "method": "GSNet", "option": "grouper=knn", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1631, 0.1562, 1.044], "loss/graspness": [0.0806, 0.07598, 1.061], "loss/view": [0.8484, 0.8476, 1.001], "loss/score": [0.03142, 0.0313, 1.004], "loss/width": [0.1035, 0.101, 1.024]}, "rise": {"loss/objectness": -0.239, "loss/graspness": -0.388, "loss/view": 0.238, "loss/score": 0.223, "loss/width": -0.044}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06876, 0.06897, 0.06949, 0.06766], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=knn -o stage__GSNet__grouper__knn.yaml", "config_hash": "f2e040b8bd85f7a3", "run": "2026-10-17@c43ea39", "seconds": 204.0},
  {"id": "stage/EconomicGrasp/grouper/knn", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=knn", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.68x"], "terms": {"loss/objectness": [0.1119, 0.1259, 0.889], "loss/graspness": [0.04284, 0.06338, 0.676], "loss/view": [0.8523, 0.8303, 1.027], "loss/angle": [1.646, 1.543, 1.067], "loss/depth": [0.8536, 0.7779, 1.097], "loss/score": [1.396, 1.31, 1.066], "loss/width": [0.6336, 0.5737, 1.104]}, "rise": {"loss/objectness": -0.174, "loss/graspness": -0.385, "loss/view": 0.027, "loss/angle": 0.078, "loss/depth": 0.088, "loss/score": 0.083, "loss/width": -0.076}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.12, -1.127, -1.127, -0.9341], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=knn -o stage__EconomicGrasp__grouper__knn.yaml", "config_hash": "d9a1c945369878b4", "run": "2026-10-17@c43ea39", "seconds": 182.3},
  {"id": "stage/FineGrasp/grouper/knn", "kind": "grouper", "method": "FineGrasp", "option": "grouper=knn", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.439x the reference (tolerance 1.25)", "loss/depth 1.608x the reference (tolerance 1.25)", "loss/score 1.496x the reference (tolerance 1.25)", "loss/width 2.008x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.07213, 0.08986, 0.803], "loss/graspness": [0.04024, 0.04722, 0.852], "loss/view": [0.6402, 0.7334, 0.873], "loss/angle": [1.348, 0.9369, 1.439], "loss/depth": [0.7015, 0.4363, 1.608], "loss/score": [1.215, 0.8125, 1.496], "loss/width": [0.6328, 0.3151, 2.008]}, "rise": {"loss/objectness": -0.202, "loss/graspness": -0.257, "loss/view": -0.103, "loss/angle": -0.033, "loss/depth": -0.001, "loss/score": -0.0, "loss/width": -0.03}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.844, -0.727, -0.8793, -0.7185], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=knn -o stage__FineGrasp__grouper__knn.yaml", "config_hash": "5cbd3cd693669b0b", "run": "2026-10-17@c43ea39", "seconds": 439.3},
  {"id": "stage/GraspNet-baseline/grouper/knn", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=knn", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.280x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.51x, loss/tolerance 0.29x"], "terms": {"loss/objectness": [0.4787, 0.3739, 1.28], "loss/view": [0.03162, 0.02976, 1.063], "loss/score": [0.02588, 0.02246, 1.152], "loss/angle": [0.3781, 0.3337, 1.133], "loss/width": [0.006523, 0.01289, 0.506], "loss/tolerance": [0.005915, 0.02008, 0.295]}, "rise": {"loss/objectness": -0.048, "loss/view": -0.047, "loss/score": -0.03, "loss/angle": -0.036, "loss/width": -0.09, "loss/tolerance": -0.327}, "grasps_per_frame": [240, 263, 504, 398], "no_gradient": [], "unchanged": [], "score_median": [0.1896, -0.2626, 0.2301, 0.2832], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=knn -o stage__GraspNet-baseline__grouper__knn.yaml", "config_hash": "a3d901dc55b34d75", "run": "2026-10-17@c43ea39", "seconds": 89.7},
  {"id": "stage/Scale-Balanced-Grasp/grouper/knn", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=knn", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.52x, loss/tolerance 0.70x"], "terms": {"loss/objectness": [0.2068, 0.1975, 1.047], "loss/view": [0.08292, 0.08244, 1.006], "loss/score": [0.01558, 0.01418, 1.099], "loss/angle": [0.3729, 0.3132, 1.191], "loss/width": [0.005924, 0.01146, 0.517], "loss/tolerance": [0.004958, 0.007067, 0.702]}, "rise": {"loss/objectness": -0.105, "loss/view": -0.012, "loss/score": -0.003, "loss/angle": -0.027, "loss/width": -0.153, "loss/tolerance": -0.21}, "grasps_per_frame": [239, 195, 175, 198], "no_gradient": [], "unchanged": [], "score_median": [0.1146, 0.1097, 0.09646, 0.08272], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__knn.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=knn -o stage__Scale-Balanced-Grasp__grouper__knn.yaml", "config_hash": "48a904d3a0b19268", "run": "2026-10-17@c43ea39", "seconds": 104.0},
  {"id": "stage/GSNet/grouper/multi-scale-linear", "kind": "grouper", "method": "GSNet", "option": "grouper=multi-scale-linear", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.153, 0.1562, 0.98], "loss/graspness": [0.0797, 0.07598, 1.049], "loss/view": [0.8341, 0.8476, 0.984], "loss/score": [0.03278, 0.0313, 1.047], "loss/width": [0.08818, 0.101, 0.873]}, "rise": {"loss/objectness": -0.205, "loss/graspness": -0.336, "loss/view": 0.169, "loss/score": 0.263, "loss/width": -0.126}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06762, 0.0709, 0.07075, 0.07366], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__multi-scale-linear.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=multi-scale-linear -o stage__GSNet__grouper__multi-scale-linear.yaml", "config_hash": "ed4f14af646c96ab", "run": "2026-10-17@c43ea39", "seconds": 184.7},
  {"id": "stage/EconomicGrasp/grouper/multi-scale-linear", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=multi-scale-linear", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1209, 0.1259, 0.96], "loss/graspness": [0.05473, 0.06338, 0.863], "loss/view": [0.8548, 0.8303, 1.03], "loss/angle": [1.516, 1.543, 0.982], "loss/depth": [0.7401, 0.7779, 0.951], "loss/score": [1.237, 1.31, 0.944], "loss/width": [0.5412, 0.5737, 0.943]}, "rise": {"loss/objectness": -0.024, "loss/graspness": -0.1, "loss/view": -0.009, "loss/angle": -0.026, "loss/depth": -0.097, "loss/score": -0.036, "loss/width": -0.187}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.2301, 0.6141, 0.5367, 0.9364], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__multi-scale-linear.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=multi-scale-linear -o stage__EconomicGrasp__grouper__multi-scale-linear.yaml", "config_hash": "d6e1ab200808748c", "run": "2026-10-17@c43ea39", "seconds": 184.7},
  {"id": "stage/FineGrasp/grouper/multi-scale-linear", "kind": "grouper", "method": "FineGrasp", "option": "grouper=multi-scale-linear", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.317x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.09585, 0.08986, 1.067], "loss/graspness": [0.04899, 0.04722, 1.037], "loss/view": [0.7404, 0.7334, 1.009], "loss/angle": [1.168, 0.9369, 1.247], "loss/depth": [0.5365, 0.4363, 1.23], "loss/score": [0.9653, 0.8125, 1.188], "loss/width": [0.415, 0.3151, 1.317]}, "rise": {"loss/objectness": -0.208, "loss/graspness": -0.354, "loss/view": -0.015, "loss/angle": -0.051, "loss/depth": -0.077, "loss/score": -0.064, "loss/width": -0.24}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.583, -1.621, -1.979, -1.58], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__multi-scale-linear.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=multi-scale-linear -o stage__FineGrasp__grouper__multi-scale-linear.yaml", "config_hash": "eb779be12731d1e5", "run": "2026-10-17@c43ea39", "seconds": 451.8},
  {"id": "stage/GraspNet-baseline/grouper/multi-scale-linear", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=multi-scale-linear", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.51x, loss/tolerance 0.33x"], "terms": {"loss/objectness": [0.4527, 0.3739, 1.211], "loss/view": [0.03167, 0.02976, 1.064], "loss/score": [0.02438, 0.02246, 1.085], "loss/angle": [0.3768, 0.3337, 1.129], "loss/width": [0.006558, 0.01289, 0.509], "loss/tolerance": [0.006642, 0.02008, 0.331]}, "rise": {"loss/objectness": -0.063, "loss/view": -0.041, "loss/score": -0.014, "loss/angle": -0.047, "loss/width": 0.068, "loss/tolerance": -0.308}, "grasps_per_frame": [339, 99, 399, 413], "no_gradient": [], "unchanged": [], "score_median": [0.1684, 0.1402, 0.1153, 0.0773], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__multi-scale-linear.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=multi-scale-linear -o stage__GraspNet-baseline__grouper__multi-scale-linear.yaml", "config_hash": "b471739f9dfd039c", "run": "2026-10-17@c43ea39", "seconds": 93.9},
  {"id": "stage/Scale-Balanced-Grasp/grouper/multi-scale-linear", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=multi-scale-linear", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.60x, loss/tolerance 0.71x"], "terms": {"loss/objectness": [0.1966, 0.1975, 0.995], "loss/view": [0.08231, 0.08244, 0.998], "loss/score": [0.01565, 0.01418, 1.104], "loss/angle": [0.3709, 0.3132, 1.184], "loss/width": [0.006893, 0.01146, 0.602], "loss/tolerance": [0.004983, 0.007067, 0.705]}, "rise": {"loss/objectness": -0.1, "loss/view": -0.019, "loss/score": -0.028, "loss/angle": -0.018, "loss/width": -0.317, "loss/tolerance": -0.228}, "grasps_per_frame": [37, 14, 34, 36], "no_gradient": [], "unchanged": [], "score_median": [0.1281, 0.1673, 0.1011, 0.1193], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__multi-scale-linear.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=multi-scale-linear -o stage__Scale-Balanced-Grasp__grouper__multi-scale-linear.yaml", "config_hash": "61b11bf4f327e579", "run": "2026-10-17@c43ea39", "seconds": 101.2},
  {"id": "stage/GSNet/grouper/multi-scale", "kind": "grouper", "method": "GSNet", "option": "grouper=multi-scale", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1524, 0.1562, 0.976], "loss/graspness": [0.0788, 0.07598, 1.037], "loss/view": [0.863, 0.8476, 1.018], "loss/score": [0.02765, 0.0313, 0.883], "loss/width": [0.09108, 0.101, 0.901]}, "rise": {"loss/objectness": -0.227, "loss/graspness": -0.331, "loss/view": 0.198, "loss/score": 0.34, "loss/width": -0.155}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04043, 0.04227, 0.04207, 0.04591], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__multi-scale.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=multi-scale -o stage__GSNet__grouper__multi-scale.yaml", "config_hash": "0814e6e5e94ea939", "run": "2026-10-17@c43ea39", "seconds": 209.9},
  {"id": "stage/EconomicGrasp/grouper/multi-scale", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=multi-scale", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.77x, loss/graspness 0.48x"], "terms": {"loss/objectness": [0.09673, 0.1259, 0.768], "loss/graspness": [0.03016, 0.06338, 0.476], "loss/view": [0.8587, 0.8303, 1.034], "loss/angle": [1.727, 1.543, 1.119], "loss/depth": [0.954, 0.7779, 1.226], "loss/score": [1.418, 1.31, 1.083], "loss/width": [0.6994, 0.5737, 1.219]}, "rise": {"loss/objectness": -0.172, "loss/graspness": -0.554, "loss/view": 0.035, "loss/angle": 0.092, "loss/depth": 0.111, "loss/score": 0.084, "loss/width": -0.043}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.4739, -0.4743, -0.4742, -0.4741], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__multi-scale.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=multi-scale -o stage__EconomicGrasp__grouper__multi-scale.yaml", "config_hash": "a84003b338714150", "run": "2026-10-17@c43ea39", "seconds": 217.2},
  {"id": "stage/GraspNet-baseline/grouper/multi-scale", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=multi-scale", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.262x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.39x, loss/tolerance 0.21x"], "terms": {"loss/objectness": [0.472, 0.3739, 1.262], "loss/view": [0.03164, 0.02976, 1.063], "loss/score": [0.0238, 0.02246, 1.06], "loss/angle": [0.3838, 0.3337, 1.15], "loss/width": [0.005086, 0.01289, 0.395], "loss/tolerance": [0.004183, 0.02008, 0.208]}, "rise": {"loss/objectness": -0.05, "loss/view": -0.053, "loss/score": -0.05, "loss/angle": -0.034, "loss/width": -0.09, "loss/tolerance": -0.299}, "grasps_per_frame": [591, 416, 604, 613], "no_gradient": [], "unchanged": [], "score_median": [0.05513, 0.09047, 0.07099, 0.0752], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__multi-scale.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=multi-scale -o stage__GraspNet-baseline__grouper__multi-scale.yaml", "config_hash": "87356771c83a781d", "run": "2026-10-17@c43ea39", "seconds": 107.3},
  {"id": "stage/Scale-Balanced-Grasp/grouper/multi-scale", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=multi-scale", "level1": "runs", "outcome": "diverging", "reasons": ["loss/tolerance rises +17 % over the last half; the reference -23 %"], "notes": ["lower than the reference: loss/width 0.55x"], "terms": {"loss/objectness": [0.1983, 0.1975, 1.004], "loss/view": [0.08148, 0.08244, 0.988], "loss/score": [0.01572, 0.01418, 1.108], "loss/angle": [0.374, 0.3132, 1.194], "loss/width": [0.006322, 0.01146, 0.552], "loss/tolerance": [0.0059, 0.007067, 0.835]}, "rise": {"loss/objectness": -0.108, "loss/view": -0.021, "loss/score": -0.085, "loss/angle": -0.031, "loss/width": 0.01, "loss/tolerance": 0.174}, "grasps_per_frame": [134, 115, 155, 88], "no_gradient": [], "unchanged": [], "score_median": [0.01172, 0.01191, 0.008182, 0.1228], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__multi-scale.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=multi-scale -o stage__Scale-Balanced-Grasp__grouper__multi-scale.yaml", "config_hash": "8c8664275ccbff88", "run": "2026-10-17@c43ea39", "seconds": 126.0},
  {"id": "stage/GSNet/grouper/pyg-edge-conv", "kind": "grouper", "method": "GSNet", "option": "grouper=pyg-edge-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1598, 0.1562, 1.023], "loss/graspness": [0.08369, 0.07598, 1.102], "loss/view": [0.8257, 0.8476, 0.974], "loss/score": [0.02697, 0.0313, 0.862], "loss/width": [0.0993, 0.101, 0.983]}, "rise": {"loss/objectness": -0.221, "loss/graspness": -0.36, "loss/view": 0.185, "loss/score": 0.342, "loss/width": -0.112}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04495, 0.04462, 0.04435, 0.04835], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__pyg-edge-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=pyg-edge-conv -o stage__GSNet__grouper__pyg-edge-conv.yaml", "config_hash": "f135f5a3cce93fae", "run": "2026-10-17@c43ea39", "seconds": 177.6},
  {"id": "stage/EconomicGrasp/grouper/pyg-edge-conv", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=pyg-edge-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.69x"], "terms": {"loss/objectness": [0.1125, 0.1259, 0.894], "loss/graspness": [0.0439, 0.06338, 0.693], "loss/view": [0.8907, 0.8303, 1.073], "loss/angle": [1.565, 1.543, 1.014], "loss/depth": [0.8092, 0.7779, 1.04], "loss/score": [1.338, 1.31, 1.022], "loss/width": [0.6094, 0.5737, 1.062]}, "rise": {"loss/objectness": -0.14, "loss/graspness": -0.222, "loss/view": 0.02, "loss/angle": -0.014, "loss/depth": -0.007, "loss/score": 0.001, "loss/width": -0.034}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.017, -0.7039, -0.9962, -0.5933], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__pyg-edge-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=pyg-edge-conv -o stage__EconomicGrasp__grouper__pyg-edge-conv.yaml", "config_hash": "aac6968507c59101", "run": "2026-10-17@c43ea39", "seconds": 166.7},
  {"id": "stage/FineGrasp/grouper/pyg-edge-conv", "kind": "grouper", "method": "FineGrasp", "option": "grouper=pyg-edge-conv", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.296x the reference (tolerance 1.25)", "loss/depth 1.341x the reference (tolerance 1.25)", "loss/score 1.315x the reference (tolerance 1.25)", "loss/width 1.491x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.09759, 0.08986, 1.086], "loss/graspness": [0.05512, 0.04722, 1.167], "loss/view": [0.7104, 0.7334, 0.969], "loss/angle": [1.214, 0.9369, 1.296], "loss/depth": [0.5852, 0.4363, 1.341], "loss/score": [1.069, 0.8125, 1.315], "loss/width": [0.4698, 0.3151, 1.491]}, "rise": {"loss/objectness": -0.057, "loss/graspness": -0.113, "loss/view": -0.05, "loss/angle": -0.092, "loss/depth": -0.105, "loss/score": -0.074, "loss/width": -0.194}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.389, -1.356, -1.686, -1.508], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__pyg-edge-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=pyg-edge-conv -o stage__FineGrasp__grouper__pyg-edge-conv.yaml", "config_hash": "c8650bf923d13b09", "run": "2026-10-17@c43ea39", "seconds": 442.4},
  {"id": "stage/GraspNet-baseline/grouper/pyg-edge-conv", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=pyg-edge-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.46x, loss/tolerance 0.29x"], "terms": {"loss/objectness": [0.4448, 0.3739, 1.19], "loss/view": [0.03159, 0.02976, 1.062], "loss/score": [0.02642, 0.02246, 1.176], "loss/angle": [0.3852, 0.3337, 1.154], "loss/width": [0.005969, 0.01289, 0.463], "loss/tolerance": [0.005745, 0.02008, 0.286]}, "rise": {"loss/objectness": -0.074, "loss/view": -0.043, "loss/score": -0.028, "loss/angle": -0.056, "loss/width": -0.147, "loss/tolerance": -0.358}, "grasps_per_frame": [672, 371, 767, 459], "no_gradient": [], "unchanged": [], "score_median": [0.1402, 0.1464, 0.1367, 0.2181], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__pyg-edge-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=pyg-edge-conv -o stage__GraspNet-baseline__grouper__pyg-edge-conv.yaml", "config_hash": "5d356e07fe00a53f", "run": "2026-10-17@c43ea39", "seconds": 87.4},
  {"id": "stage/Scale-Balanced-Grasp/grouper/pyg-edge-conv", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=pyg-edge-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.48x, loss/tolerance 0.61x"], "terms": {"loss/objectness": [0.1905, 0.1975, 0.964], "loss/view": [0.08181, 0.08244, 0.992], "loss/score": [0.01617, 0.01418, 1.14], "loss/angle": [0.3724, 0.3132, 1.189], "loss/width": [0.005545, 0.01146, 0.484], "loss/tolerance": [0.004322, 0.007067, 0.612]}, "rise": {"loss/objectness": -0.113, "loss/view": -0.025, "loss/score": -0.035, "loss/angle": -0.013, "loss/width": -0.094, "loss/tolerance": -0.144}, "grasps_per_frame": [157, 29, 118, 109], "no_gradient": [], "unchanged": [], "score_median": [0.03247, 0.1016, 0.0849, 0.259], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__pyg-edge-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=pyg-edge-conv -o stage__Scale-Balanced-Grasp__grouper__pyg-edge-conv.yaml", "config_hash": "db8408e62914d253", "run": "2026-10-17@c43ea39", "seconds": 97.5},
  {"id": "stage/GSNet/grouper/pyg-gatv2-conv", "kind": "grouper", "method": "GSNet", "option": "grouper=pyg-gatv2-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1582, 0.1562, 1.013], "loss/graspness": [0.08849, 0.07598, 1.165], "loss/view": [0.8144, 0.8476, 0.961], "loss/score": [0.02686, 0.0313, 0.858], "loss/width": [0.1255, 0.101, 1.242]}, "rise": {"loss/objectness": -0.233, "loss/graspness": -0.338, "loss/view": 0.194, "loss/score": 0.286, "loss/width": -0.06}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05291, 0.05034, 0.0545, 0.05612], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__pyg-gatv2-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=pyg-gatv2-conv -o stage__GSNet__grouper__pyg-gatv2-conv.yaml", "config_hash": "1ed0fcc044693857", "run": "2026-10-17@c43ea39", "seconds": 166.8},
  {"id": "stage/EconomicGrasp/grouper/pyg-gatv2-conv", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=pyg-gatv2-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1229, 0.1259, 0.977], "loss/graspness": [0.05072, 0.06338, 0.8], "loss/view": [0.8431, 0.8303, 1.016], "loss/angle": [1.57, 1.543, 1.017], "loss/depth": [0.8093, 0.7779, 1.04], "loss/score": [1.342, 1.31, 1.025], "loss/width": [0.5592, 0.5737, 0.975]}, "rise": {"loss/objectness": -0.154, "loss/graspness": -0.486, "loss/view": 0.045, "loss/angle": 0.069, "loss/depth": 0.091, "loss/score": 0.071, "loss/width": -0.13}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.219, -1.297, -1.216, -1.152], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__pyg-gatv2-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=pyg-gatv2-conv -o stage__EconomicGrasp__grouper__pyg-gatv2-conv.yaml", "config_hash": "b821bdb354858b6c", "run": "2026-10-17@c43ea39", "seconds": 170.7},
  {"id": "stage/FineGrasp/grouper/pyg-gatv2-conv", "kind": "grouper", "method": "FineGrasp", "option": "grouper=pyg-gatv2-conv", "level1": "runs", "outcome": "worse", "reasons": ["loss/depth 1.271x the reference (tolerance 1.25)", "loss/width 1.493x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.09269, 0.08986, 1.031], "loss/graspness": [0.05033, 0.04722, 1.066], "loss/view": [0.7116, 0.7334, 0.97], "loss/angle": [1.141, 0.9369, 1.218], "loss/depth": [0.5548, 0.4363, 1.271], "loss/score": [1.006, 0.8125, 1.238], "loss/width": [0.4706, 0.3151, 1.493]}, "rise": {"loss/objectness": -0.13, "loss/graspness": -0.172, "loss/view": -0.035, "loss/angle": -0.103, "loss/depth": -0.114, "loss/score": -0.092, "loss/width": -0.147}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.365, -3.908, -4.412, -3.59], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__pyg-gatv2-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=pyg-gatv2-conv -o stage__FineGrasp__grouper__pyg-gatv2-conv.yaml", "config_hash": "064e50dff4fc4b2e", "run": "2026-10-17@c43ea39", "seconds": 444.9},
  {"id": "stage/GraspNet-baseline/grouper/pyg-gatv2-conv", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=pyg-gatv2-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.49x, loss/tolerance 0.31x"], "terms": {"loss/objectness": [0.464, 0.3739, 1.241], "loss/view": [0.03165, 0.02976, 1.063], "loss/score": [0.024, 0.02246, 1.068], "loss/angle": [0.3775, 0.3337, 1.131], "loss/width": [0.006346, 0.01289, 0.492], "loss/tolerance": [0.006209, 0.02008, 0.309]}, "rise": {"loss/objectness": -0.059, "loss/view": -0.041, "loss/score": -0.075, "loss/angle": -0.034, "loss/width": -0.114, "loss/tolerance": -0.274}, "grasps_per_frame": [389, 92, 466, 265], "no_gradient": [], "unchanged": [], "score_median": [0.2854, 0.198, 0.04391, 0.124], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__pyg-gatv2-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=pyg-gatv2-conv -o stage__GraspNet-baseline__grouper__pyg-gatv2-conv.yaml", "config_hash": "f99b761396326728", "run": "2026-10-17@c43ea39", "seconds": 88.0},
  {"id": "stage/Scale-Balanced-Grasp/grouper/pyg-gatv2-conv", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=pyg-gatv2-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.47x, loss/tolerance 0.72x"], "terms": {"loss/objectness": [0.2036, 0.1975, 1.031], "loss/view": [0.08272, 0.08244, 1.003], "loss/score": [0.01599, 0.01418, 1.127], "loss/angle": [0.3732, 0.3132, 1.191], "loss/width": [0.005375, 0.01146, 0.469], "loss/tolerance": [0.005071, 0.007067, 0.718]}, "rise": {"loss/objectness": -0.118, "loss/view": -0.016, "loss/score": -0.05, "loss/angle": -0.029, "loss/width": -0.079, "loss/tolerance": -0.324}, "grasps_per_frame": [58, 61, 66, 70], "no_gradient": [], "unchanged": [], "score_median": [0.02788, 0.04994, 0.07238, 0.07951], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__pyg-gatv2-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=pyg-gatv2-conv -o stage__Scale-Balanced-Grasp__grouper__pyg-gatv2-conv.yaml", "config_hash": "d7fb62c7449b5771", "run": "2026-10-17@c43ea39", "seconds": 107.2},
  {"id": "stage/GSNet/grouper/pyg-point-transformer-conv", "kind": "grouper", "method": "GSNet", "option": "grouper=pyg-point-transformer-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1604, 0.1562, 1.027], "loss/graspness": [0.08708, 0.07598, 1.146], "loss/view": [0.812, 0.8476, 0.958], "loss/score": [0.02601, 0.0313, 0.831], "loss/width": [0.1071, 0.101, 1.06]}, "rise": {"loss/objectness": -0.198, "loss/graspness": -0.308, "loss/view": 0.172, "loss/score": 0.196, "loss/width": -0.038}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06041, 0.05836, 0.05904, 0.05898], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__pyg-point-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=pyg-point-transformer-conv -o stage__GSNet__grouper__pyg-point-transformer-conv.yaml", "config_hash": "d1629a72c086fb8f", "run": "2026-10-17@c43ea39", "seconds": 139.3},
  {"id": "stage/EconomicGrasp/grouper/pyg-point-transformer-conv", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=pyg-point-transformer-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1321, 0.1259, 1.049], "loss/graspness": [0.0644, 0.06338, 1.016], "loss/view": [0.8437, 0.8303, 1.016], "loss/angle": [1.317, 1.543, 0.853], "loss/depth": [0.6675, 0.7779, 0.858], "loss/score": [1.164, 1.31, 0.889], "loss/width": [0.5117, 0.5737, 0.892]}, "rise": {"loss/objectness": -0.186, "loss/graspness": -0.384, "loss/view": 0.039, "loss/angle": 0.04, "loss/depth": 0.051, "loss/score": 0.053, "loss/width": -0.11}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.727, -2.481, -3.019, -3.208], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__pyg-point-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=pyg-point-transformer-conv -o stage__EconomicGrasp__grouper__pyg-point-transformer-conv.yaml", "config_hash": "03021647076e1867", "run": "2026-10-17@c43ea39", "seconds": 141.6},
  {"id": "stage/FineGrasp/grouper/pyg-point-transformer-conv", "kind": "grouper", "method": "FineGrasp", "option": "grouper=pyg-point-transformer-conv", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.413x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.09567, 0.08986, 1.065], "loss/graspness": [0.04637, 0.04722, 0.982], "loss/view": [0.7314, 0.7334, 0.997], "loss/angle": [1.12, 0.9369, 1.196], "loss/depth": [0.5418, 0.4363, 1.242], "loss/score": [1.01, 0.8125, 1.243], "loss/width": [0.4451, 0.3151, 1.413]}, "rise": {"loss/objectness": -0.175, "loss/graspness": -0.344, "loss/view": -0.023, "loss/angle": -0.089, "loss/depth": -0.098, "loss/score": -0.074, "loss/width": -0.157}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.45, -3.573, -4.176, -4.21], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__pyg-point-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=pyg-point-transformer-conv -o stage__FineGrasp__grouper__pyg-point-transformer-conv.yaml", "config_hash": "9e43114ff709efb4", "run": "2026-10-17@c43ea39", "seconds": 446.3},
  {"id": "stage/GraspNet-baseline/grouper/pyg-point-transformer-conv", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=pyg-point-transformer-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.44x, loss/tolerance 0.26x"], "terms": {"loss/objectness": [0.4506, 0.3739, 1.205], "loss/view": [0.03132, 0.02976, 1.052], "loss/score": [0.0253, 0.02246, 1.126], "loss/angle": [0.3753, 0.3337, 1.125], "loss/width": [0.005629, 0.01289, 0.437], "loss/tolerance": [0.005268, 0.02008, 0.262]}, "rise": {"loss/objectness": -0.057, "loss/view": -0.04, "loss/score": -0.032, "loss/angle": -0.025, "loss/width": -0.163, "loss/tolerance": -0.199}, "grasps_per_frame": [421, 233, 601, 398], "no_gradient": [], "unchanged": [], "score_median": [0.2015, 0.204, 0.1413, 0.2769], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__pyg-point-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=pyg-point-transformer-conv -o stage__GraspNet-baseline__grouper__pyg-point-transformer-conv.yaml", "config_hash": "27448a72ca837c9c", "run": "2026-10-17@c43ea39", "seconds": 78.5},
  {"id": "stage/Scale-Balanced-Grasp/grouper/pyg-point-transformer-conv", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=pyg-point-transformer-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1862, 0.1975, 0.943], "loss/view": [0.0824, 0.08244, 1.0], "loss/score": [0.01599, 0.01418, 1.127], "loss/angle": [0.3693, 0.3132, 1.179], "loss/width": [0.01127, 0.01146, 0.984], "loss/tolerance": [0.00577, 0.007067, 0.817]}, "rise": {"loss/objectness": -0.128, "loss/view": -0.02, "loss/score": 0.031, "loss/angle": -0.023, "loss/width": 0.212, "loss/tolerance": -0.111}, "grasps_per_frame": [187, 178, 163, 87], "no_gradient": [], "unchanged": [], "score_median": [0.02132, 0.003226, 0.03358, 0.06809], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__pyg-point-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=pyg-point-transformer-conv -o stage__Scale-Balanced-Grasp__grouper__pyg-point-transformer-conv.yaml", "config_hash": "6a19c19a5b6120ef", "run": "2026-10-17@c43ea39", "seconds": 86.8},
  {"id": "stage/GSNet/grouper/pyg-pointnet-conv", "kind": "grouper", "method": "GSNet", "option": "grouper=pyg-pointnet-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1584, 0.1562, 1.014], "loss/graspness": [0.07967, 0.07598, 1.049], "loss/view": [0.8335, 0.8476, 0.983], "loss/score": [0.02651, 0.0313, 0.847], "loss/width": [0.1119, 0.101, 1.108]}, "rise": {"loss/objectness": -0.196, "loss/graspness": -0.366, "loss/view": 0.213, "loss/score": 0.24, "loss/width": -0.057}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06049, 0.05304, 0.06312, 0.06427], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__pyg-pointnet-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=pyg-pointnet-conv -o stage__GSNet__grouper__pyg-pointnet-conv.yaml", "config_hash": "423c0ac46219dbec", "run": "2026-10-17@c43ea39", "seconds": 140.7},
  {"id": "stage/EconomicGrasp/grouper/pyg-pointnet-conv", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=pyg-pointnet-conv", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.447x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1398, 0.1259, 1.111], "loss/graspness": [0.09172, 0.06338, 1.447], "loss/view": [0.8103, 0.8303, 0.976], "loss/angle": [1.492, 1.543, 0.967], "loss/depth": [0.7388, 0.7779, 0.95], "loss/score": [1.278, 1.31, 0.976], "loss/width": [0.6043, 0.5737, 1.053]}, "rise": {"loss/objectness": -0.274, "loss/graspness": -0.298, "loss/view": 0.04, "loss/angle": 0.034, "loss/depth": 0.002, "loss/score": 0.034, "loss/width": -0.105}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.1708, -0.1737, -0.09784, 0.05489], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__pyg-pointnet-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=pyg-pointnet-conv -o stage__EconomicGrasp__grouper__pyg-pointnet-conv.yaml", "config_hash": "6faf718589b64b7d", "run": "2026-10-17@c43ea39", "seconds": 135.4},
  {"id": "stage/FineGrasp/grouper/pyg-pointnet-conv", "kind": "grouper", "method": "FineGrasp", "option": "grouper=pyg-pointnet-conv", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.316x the reference (tolerance 1.25)", "loss/angle 1.364x the reference (tolerance 1.25)", "loss/depth 1.415x the reference (tolerance 1.25)", "loss/score 1.388x the reference (tolerance 1.25)", "loss/width 1.605x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1103, 0.08986, 1.227], "loss/graspness": [0.06213, 0.04722, 1.316], "loss/view": [0.7194, 0.7334, 0.981], "loss/angle": [1.278, 0.9369, 1.364], "loss/depth": [0.6175, 0.4363, 1.415], "loss/score": [1.127, 0.8125, 1.388], "loss/width": [0.5056, 0.3151, 1.605]}, "rise": {"loss/objectness": -0.043, "loss/graspness": -0.175, "loss/view": -0.044, "loss/angle": -0.06, "loss/depth": -0.083, "loss/score": -0.053, "loss/width": -0.172}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7342, -0.122, -0.5439, -0.002604], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__pyg-pointnet-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=pyg-pointnet-conv -o stage__FineGrasp__grouper__pyg-pointnet-conv.yaml", "config_hash": "b01d288e2b0ee91a", "run": "2026-10-17@c43ea39", "seconds": 448.4},
  {"id": "stage/GraspNet-baseline/grouper/pyg-pointnet-conv", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=pyg-pointnet-conv", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.254x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.41x, loss/tolerance 0.26x"], "terms": {"loss/objectness": [0.4688, 0.3739, 1.254], "loss/view": [0.03174, 0.02976, 1.067], "loss/score": [0.02592, 0.02246, 1.154], "loss/angle": [0.3792, 0.3337, 1.136], "loss/width": [0.005316, 0.01289, 0.412], "loss/tolerance": [0.005162, 0.02008, 0.257]}, "rise": {"loss/objectness": -0.06, "loss/view": -0.044, "loss/score": -0.034, "loss/angle": -0.03, "loss/width": -0.199, "loss/tolerance": -0.253}, "grasps_per_frame": [298, 368, 522, 338], "no_gradient": [], "unchanged": [], "score_median": [0.1794, 0.1517, 0.1874, 0.2863], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__pyg-pointnet-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=pyg-pointnet-conv -o stage__GraspNet-baseline__grouper__pyg-pointnet-conv.yaml", "config_hash": "65a651db2dfa0efa", "run": "2026-10-17@c43ea39", "seconds": 78.9},
  {"id": "stage/Scale-Balanced-Grasp/grouper/pyg-pointnet-conv", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=pyg-pointnet-conv", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.53x, loss/tolerance 0.72x"], "terms": {"loss/objectness": [0.2025, 0.1975, 1.026], "loss/view": [0.08312, 0.08244, 1.008], "loss/score": [0.01662, 0.01418, 1.172], "loss/angle": [0.371, 0.3132, 1.185], "loss/width": [0.006069, 0.01146, 0.53], "loss/tolerance": [0.005101, 0.007067, 0.722]}, "rise": {"loss/objectness": -0.121, "loss/view": -0.018, "loss/score": 0.008, "loss/angle": -0.046, "loss/width": 0.03, "loss/tolerance": -0.212}, "grasps_per_frame": [128, 71, 81, 29], "no_gradient": [], "unchanged": [], "score_median": [0.1437, 0.1777, 0.08643, 0.159], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__pyg-pointnet-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=pyg-pointnet-conv -o stage__Scale-Balanced-Grasp__grouper__pyg-pointnet-conv.yaml", "config_hash": "bd545ba632d95a98", "run": "2026-10-17@c43ea39", "seconds": 86.9},
  {"id": "stage/GSNet/grouper/pyg-transformer-conv", "kind": "grouper", "method": "GSNet", "option": "grouper=pyg-transformer-conv", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +45 % over the last half; the reference +20 %"], "terms": {"loss/objectness": [0.1587, 0.1562, 1.016], "loss/graspness": [0.0851, 0.07598, 1.12], "loss/view": [0.8307, 0.8476, 0.98], "loss/score": [0.028, 0.0313, 0.894], "loss/width": [0.1019, 0.101, 1.008]}, "rise": {"loss/objectness": -0.23, "loss/graspness": -0.356, "loss/view": 0.239, "loss/score": 0.446, "loss/width": -0.046}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04763, 0.05003, 0.05109, 0.05153], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__pyg-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=pyg-transformer-conv -o stage__GSNet__grouper__pyg-transformer-conv.yaml", "config_hash": "4812af56a721b001", "run": "2026-10-17@c43ea39", "seconds": 169.7},
  {"id": "stage/EconomicGrasp/grouper/pyg-transformer-conv", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=pyg-transformer-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.77x"], "terms": {"loss/objectness": [0.1338, 0.1259, 1.063], "loss/graspness": [0.05276, 0.06338, 0.832], "loss/view": [0.8438, 0.8303, 1.016], "loss/angle": [1.348, 1.543, 0.873], "loss/depth": [0.6684, 0.7779, 0.859], "loss/score": [1.171, 1.31, 0.894], "loss/width": [0.4445, 0.5737, 0.775]}, "rise": {"loss/objectness": -0.121, "loss/graspness": -0.397, "loss/view": 0.053, "loss/angle": 0.011, "loss/depth": 0.035, "loss/score": 0.032, "loss/width": -0.168}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.249, -0.84, -0.8969, -0.6365], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__pyg-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=pyg-transformer-conv -o stage__EconomicGrasp__grouper__pyg-transformer-conv.yaml", "config_hash": "61e06d6532cb796b", "run": "2026-10-17@c43ea39", "seconds": 146.5},
  {"id": "stage/FineGrasp/grouper/pyg-transformer-conv", "kind": "grouper", "method": "FineGrasp", "option": "grouper=pyg-transformer-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09463, 0.08986, 1.053], "loss/graspness": [0.04662, 0.04722, 0.987], "loss/view": [0.759, 0.7334, 1.035], "loss/angle": [1.023, 0.9369, 1.092], "loss/depth": [0.4846, 0.4363, 1.111], "loss/score": [0.9155, 0.8125, 1.127], "loss/width": [0.3739, 0.3151, 1.187]}, "rise": {"loss/objectness": -0.115, "loss/graspness": -0.236, "loss/view": -0.002, "loss/angle": -0.118, "loss/depth": -0.116, "loss/score": -0.102, "loss/width": -0.164}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.25, -2.804, -2.863, -2.636], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__pyg-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=pyg-transformer-conv -o stage__FineGrasp__grouper__pyg-transformer-conv.yaml", "config_hash": "cb5a10e7b40bbc26", "run": "2026-10-17@c43ea39", "seconds": 485.2},
  {"id": "stage/GraspNet-baseline/grouper/pyg-transformer-conv", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=pyg-transformer-conv", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.43x, loss/tolerance 0.23x"], "terms": {"loss/objectness": [0.4507, 0.3739, 1.206], "loss/view": [0.03161, 0.02976, 1.062], "loss/score": [0.02579, 0.02246, 1.148], "loss/angle": [0.3722, 0.3337, 1.115], "loss/width": [0.005505, 0.01289, 0.427], "loss/tolerance": [0.004582, 0.02008, 0.228]}, "rise": {"loss/objectness": -0.058, "loss/view": -0.043, "loss/score": 0.046, "loss/angle": -0.029, "loss/width": -0.235, "loss/tolerance": -0.312}, "grasps_per_frame": [474, 439, 464, 216], "no_gradient": [], "unchanged": [], "score_median": [0.06818, 0.1059, 0.07835, 0.06552], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__pyg-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=pyg-transformer-conv -o stage__GraspNet-baseline__grouper__pyg-transformer-conv.yaml", "config_hash": "99ab065e21acfbb6", "run": "2026-10-17@c43ea39", "seconds": 84.1},
  {"id": "stage/Scale-Balanced-Grasp/grouper/pyg-transformer-conv", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=pyg-transformer-conv", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.38x, loss/tolerance 0.64x"], "terms": {"loss/objectness": [0.1999, 0.1975, 1.012], "loss/view": [0.08279, 0.08244, 1.004], "loss/score": [0.01607, 0.01418, 1.133], "loss/angle": [0.3659, 0.3132, 1.168], "loss/width": [0.004371, 0.01146, 0.382], "loss/tolerance": [0.004522, 0.007067, 0.64]}, "rise": {"loss/objectness": -0.116, "loss/view": -0.013, "loss/score": 0.0, "loss/angle": -0.016, "loss/width": -0.329, "loss/tolerance": -0.126}, "grasps_per_frame": [11, 24, 12, 24], "no_gradient": [], "unchanged": [], "score_median": [0.005293, 0.2225, 0.002151, 0.1583], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__pyg-transformer-conv.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=pyg-transformer-conv -o stage__Scale-Balanced-Grasp__grouper__pyg-transformer-conv.yaml", "config_hash": "50adccb962d8c20e", "run": "2026-10-17@c43ea39", "seconds": 89.0},
  {"id": "stage/GSNet/grouper/roi-aware", "kind": "grouper", "method": "GSNet", "option": "grouper=roi-aware", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +43 % over the last half; the reference +20 %"], "notes": ["lower than the reference: loss/width 0.57x"], "terms": {"loss/objectness": [0.1566, 0.1562, 1.003], "loss/graspness": [0.08169, 0.07598, 1.075], "loss/view": [0.86, 0.8476, 1.015], "loss/score": [0.02877, 0.0313, 0.919], "loss/width": [0.05761, 0.101, 0.57]}, "rise": {"loss/objectness": -0.197, "loss/graspness": -0.353, "loss/view": 0.233, "loss/score": 0.431, "loss/width": -0.144}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05647, 0.05877, 0.05853, 0.06272], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__roi-aware.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=roi-aware -o stage__GSNet__grouper__roi-aware.yaml", "config_hash": "5f28140819192806", "run": "2026-10-17@c43ea39", "seconds": 143.8},
  {"id": "stage/EconomicGrasp/grouper/roi-aware", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=roi-aware", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.50x, loss/angle 0.65x, loss/depth 0.66x, loss/score 0.68x, loss/width 0.54x"], "terms": {"loss/objectness": [0.1049, 0.1259, 0.833], "loss/graspness": [0.0319, 0.06338, 0.503], "loss/view": [0.8595, 0.8303, 1.035], "loss/angle": [0.999, 1.543, 0.647], "loss/depth": [0.5108, 0.7779, 0.657], "loss/score": [0.8886, 1.31, 0.679], "loss/width": [0.3093, 0.5737, 0.539]}, "rise": {"loss/objectness": -0.153, "loss/graspness": -0.545, "loss/view": 0.029, "loss/angle": -0.036, "loss/depth": -0.017, "loss/score": -0.021, "loss/width": -0.183}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.8827, -0.3852, -0.4157, 0.8157], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__roi-aware.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=roi-aware -o stage__EconomicGrasp__grouper__roi-aware.yaml", "config_hash": "28437985bcc6ef50", "run": "2026-10-17@c43ea39", "seconds": 148.1},
  {"id": "stage/FineGrasp/grouper/roi-aware", "kind": "grouper", "method": "FineGrasp", "option": "grouper=roi-aware", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.74x, loss/graspness 0.78x, loss/angle 0.79x"], "terms": {"loss/objectness": [0.06692, 0.08986, 0.745], "loss/graspness": [0.03693, 0.04722, 0.782], "loss/view": [0.65, 0.7334, 0.886], "loss/angle": [0.7438, 0.9369, 0.794], "loss/depth": [0.3646, 0.4363, 0.836], "loss/score": [0.6845, 0.8125, 0.842], "loss/width": [0.2651, 0.3151, 0.841]}, "rise": {"loss/objectness": -0.235, "loss/graspness": -0.486, "loss/view": -0.074, "loss/angle": -0.172, "loss/depth": -0.138, "loss/score": -0.145, "loss/width": -0.222}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.064, -3.19, -4.052, -3.425], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__roi-aware.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=roi-aware -o stage__FineGrasp__grouper__roi-aware.yaml", "config_hash": "ac8c9ecc1c952a55", "run": "2026-10-17@c43ea39", "seconds": 481.4},
  {"id": "stage/GraspNet-baseline/grouper/roi-aware", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=roi-aware", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.70x, loss/tolerance 0.24x"], "terms": {"loss/objectness": [0.4423, 0.3739, 1.183], "loss/view": [0.03129, 0.02976, 1.052], "loss/score": [0.02557, 0.02246, 1.138], "loss/angle": [0.3656, 0.3337, 1.096], "loss/width": [0.009029, 0.01289, 0.7], "loss/tolerance": [0.004889, 0.02008, 0.243]}, "rise": {"loss/objectness": -0.066, "loss/view": -0.042, "loss/score": -0.059, "loss/angle": -0.06, "loss/width": 0.072, "loss/tolerance": -0.225}, "grasps_per_frame": [356, 385, 485, 412], "no_gradient": [], "unchanged": [], "score_median": [0.1162, 0.1132, 0.1283, 0.1358], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__roi-aware.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=roi-aware -o stage__GraspNet-baseline__grouper__roi-aware.yaml", "config_hash": "ced0df4e0bb38742", "run": "2026-10-17@c43ea39", "seconds": 78.9},
  {"id": "stage/Scale-Balanced-Grasp/grouper/roi-aware", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=roi-aware", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.70x, loss/tolerance 0.73x"], "terms": {"loss/objectness": [0.1921, 0.1975, 0.973], "loss/view": [0.08196, 0.08244, 0.994], "loss/score": [0.01549, 0.01418, 1.092], "loss/angle": [0.3353, 0.3132, 1.07], "loss/width": [0.008025, 0.01146, 0.701], "loss/tolerance": [0.005127, 0.007067, 0.726]}, "rise": {"loss/objectness": -0.122, "loss/view": -0.015, "loss/score": -0.053, "loss/angle": -0.051, "loss/width": -0.052, "loss/tolerance": -0.111}, "grasps_per_frame": [124, 72, 54, 51], "no_gradient": [], "unchanged": [], "score_median": [0.06097, 0.07285, 0.07682, 0.07319], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__roi-aware.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=roi-aware -o stage__Scale-Balanced-Grasp__grouper__roi-aware.yaml", "config_hash": "8750367987c5b41a", "run": "2026-10-17@c43ea39", "seconds": 90.1},
  {"id": "stage/GSNet/grouper/roi-grid", "kind": "grouper", "method": "GSNet", "option": "grouper=roi-grid", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.62x"], "terms": {"loss/objectness": [0.1591, 0.1562, 1.019], "loss/graspness": [0.09342, 0.07598, 1.23], "loss/view": [0.8255, 0.8476, 0.974], "loss/score": [0.02636, 0.0313, 0.842], "loss/width": [0.06237, 0.101, 0.617]}, "rise": {"loss/objectness": -0.214, "loss/graspness": -0.331, "loss/view": 0.226, "loss/score": 0.348, "loss/width": -0.136}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05134, 0.05633, 0.05569, 0.0552], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__roi-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=roi-grid -o stage__GSNet__grouper__roi-grid.yaml", "config_hash": "d99e1d7a282fc52e", "run": "2026-10-17@c43ea39", "seconds": 148.4},
  {"id": "stage/EconomicGrasp/grouper/roi-grid", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=roi-grid", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.68x, loss/angle 0.68x, loss/depth 0.70x, loss/score 0.71x, loss/width 0.58x"], "terms": {"loss/objectness": [0.1157, 0.1259, 0.919], "loss/graspness": [0.04291, 0.06338, 0.677], "loss/view": [0.8487, 0.8303, 1.022], "loss/angle": [1.05, 1.543, 0.68], "loss/depth": [0.5442, 0.7779, 0.7], "loss/score": [0.9286, 1.31, 0.709], "loss/width": [0.3313, 0.5737, 0.578]}, "rise": {"loss/objectness": -0.112, "loss/graspness": -0.431, "loss/view": 0.027, "loss/angle": -0.007, "loss/depth": 0.051, "loss/score": 0.021, "loss/width": -0.139}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.824, -0.07696, -1.699, -1.18], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__roi-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=roi-grid -o stage__EconomicGrasp__grouper__roi-grid.yaml", "config_hash": "92bd11d28227c1b8", "run": "2026-10-17@c43ea39", "seconds": 144.9},
  {"id": "stage/FineGrasp/grouper/roi-grid", "kind": "grouper", "method": "FineGrasp", "option": "grouper=roi-grid", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.07438, 0.08986, 0.828], "loss/graspness": [0.03798, 0.04722, 0.804], "loss/view": [0.6802, 0.7334, 0.927], "loss/angle": [0.7579, 0.9369, 0.809], "loss/depth": [0.378, 0.4363, 0.866], "loss/score": [0.6969, 0.8125, 0.858], "loss/width": [0.2785, 0.3151, 0.884]}, "rise": {"loss/objectness": -0.218, "loss/graspness": -0.299, "loss/view": -0.062, "loss/angle": -0.162, "loss/depth": -0.14, "loss/score": -0.131, "loss/width": -0.187}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.872, -2.221, -3.91, -3.196], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__roi-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=roi-grid -o stage__FineGrasp__grouper__roi-grid.yaml", "config_hash": "a3f820cb9587cc40", "run": "2026-10-17@c43ea39", "seconds": 483.9},
  {"id": "stage/GraspNet-baseline/grouper/roi-grid", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=roi-grid", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.41x, loss/tolerance 0.18x"], "terms": {"loss/objectness": [0.4536, 0.3739, 1.213], "loss/view": [0.03181, 0.02976, 1.069], "loss/score": [0.02387, 0.02246, 1.062], "loss/angle": [0.3727, 0.3337, 1.117], "loss/width": [0.005303, 0.01289, 0.411], "loss/tolerance": [0.003654, 0.02008, 0.182]}, "rise": {"loss/objectness": -0.063, "loss/view": -0.051, "loss/score": -0.076, "loss/angle": -0.029, "loss/width": -0.153, "loss/tolerance": -0.156}, "grasps_per_frame": [465, 60, 374, 242], "no_gradient": [], "unchanged": [], "score_median": [0.09621, 0.1193, 0.09849, 0.09017], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__roi-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=roi-grid -o stage__GraspNet-baseline__grouper__roi-grid.yaml", "config_hash": "621c521745538dbc", "run": "2026-10-17@c43ea39", "seconds": 81.0},
  {"id": "stage/Scale-Balanced-Grasp/grouper/roi-grid", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=roi-grid", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.44x, loss/tolerance 0.69x"], "terms": {"loss/objectness": [0.2007, 0.1975, 1.016], "loss/view": [0.0824, 0.08244, 1.0], "loss/score": [0.01614, 0.01418, 1.138], "loss/angle": [0.3661, 0.3132, 1.169], "loss/width": [0.005005, 0.01146, 0.437], "loss/tolerance": [0.004891, 0.007067, 0.692]}, "rise": {"loss/objectness": -0.119, "loss/view": -0.015, "loss/score": -0.047, "loss/angle": -0.022, "loss/width": 0.004, "loss/tolerance": -0.081}, "grasps_per_frame": [179, 107, 175, 119], "no_gradient": [], "unchanged": [], "score_median": [0.0006303, 0.09533, 0.04061, 0.06267], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__roi-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=roi-grid -o stage__Scale-Balanced-Grasp__grouper__roi-grid.yaml", "config_hash": "b632dc8eec256a6d", "run": "2026-10-17@c43ea39", "seconds": 86.2},
  {"id": "stage/GSNet/grouper/voxel-set-abstraction", "kind": "grouper", "method": "GSNet", "option": "grouper=voxel-set-abstraction", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.67x"], "terms": {"loss/objectness": [0.1591, 0.1562, 1.019], "loss/graspness": [0.07974, 0.07598, 1.049], "loss/view": [0.8444, 0.8476, 0.996], "loss/score": [0.02525, 0.0313, 0.807], "loss/width": [0.06728, 0.101, 0.666]}, "rise": {"loss/objectness": -0.226, "loss/graspness": -0.367, "loss/view": 0.228, "loss/score": 0.193, "loss/width": -0.096}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06114, 0.0635, 0.06446, 0.06888], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__voxel-set-abstraction.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=voxel-set-abstraction -o stage__GSNet__grouper__voxel-set-abstraction.yaml", "config_hash": "426377c15c89f5e2", "run": "2026-10-17@c43ea39", "seconds": 136.6},
  {"id": "stage/EconomicGrasp/grouper/voxel-set-abstraction", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=voxel-set-abstraction", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.54x, loss/angle 0.72x, loss/depth 0.75x, loss/score 0.76x, loss/width 0.62x"], "terms": {"loss/objectness": [0.1082, 0.1259, 0.859], "loss/graspness": [0.03436, 0.06338, 0.542], "loss/view": [0.8734, 0.8303, 1.052], "loss/angle": [1.112, 1.543, 0.72], "loss/depth": [0.5812, 0.7779, 0.747], "loss/score": [0.9888, 1.31, 0.755], "loss/width": [0.3579, 0.5737, 0.624]}, "rise": {"loss/objectness": -0.158, "loss/graspness": -0.46, "loss/view": 0.03, "loss/angle": 0.027, "loss/depth": 0.023, "loss/score": 0.041, "loss/width": -0.133}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.979, -1.129, -1.549, -0.9402], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__voxel-set-abstraction.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=voxel-set-abstraction -o stage__EconomicGrasp__grouper__voxel-set-abstraction.yaml", "config_hash": "d66f276ce29c769e", "run": "2026-10-17@c43ea39", "seconds": 137.3},
  {"id": "stage/FineGrasp/grouper/voxel-set-abstraction", "kind": "grouper", "method": "FineGrasp", "option": "grouper=voxel-set-abstraction", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08947, 0.08986, 0.996], "loss/graspness": [0.04049, 0.04722, 0.857], "loss/view": [0.7029, 0.7334, 0.958], "loss/angle": [0.8728, 0.9369, 0.932], "loss/depth": [0.4356, 0.4363, 0.998], "loss/score": [0.7869, 0.8125, 0.968], "loss/width": [0.3475, 0.3151, 1.103]}, "rise": {"loss/objectness": -0.146, "loss/graspness": -0.327, "loss/view": -0.047, "loss/angle": -0.104, "loss/depth": -0.075, "loss/score": -0.088, "loss/width": -0.13}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.068, -1.51, -1.978, -2.275], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__voxel-set-abstraction.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=voxel-set-abstraction -o stage__FineGrasp__grouper__voxel-set-abstraction.yaml", "config_hash": "20e83b9d1bbfa587", "run": "2026-10-17@c43ea39", "seconds": 464.2},
  {"id": "stage/EconomicGrasp/grouper/CylinderGroup", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=CylinderGroup", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.78x"], "terms": {"loss/objectness": [0.1145, 0.1259, 0.91], "loss/graspness": [0.04939, 0.06338, 0.779], "loss/view": [0.8422, 0.8303, 1.014], "loss/angle": [1.629, 1.543, 1.055], "loss/depth": [0.8082, 0.7779, 1.039], "loss/score": [1.39, 1.31, 1.061], "loss/width": [0.5715, 0.5737, 0.996]}, "rise": {"loss/objectness": -0.135, "loss/graspness": -0.404, "loss/view": 0.023, "loss/angle": 0.063, "loss/depth": 0.035, "loss/score": 0.077, "loss/width": -0.129}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.8567, -0.5466, -0.7386, -0.4713], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__CylinderGroup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=CylinderGroup -o stage__EconomicGrasp__grouper__CylinderGroup.yaml", "config_hash": "c4ed8a82cc926649", "run": "2026-10-17@c43ea39", "seconds": 148.6},
  {"id": "stage/FineGrasp/grouper/CylinderGroup", "kind": "grouper", "method": "FineGrasp", "option": "grouper=CylinderGroup", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.341x the reference (tolerance 1.25)", "loss/angle 1.440x the reference (tolerance 1.25)", "loss/depth 1.517x the reference (tolerance 1.25)", "loss/score 1.460x the reference (tolerance 1.25)", "loss/width 1.783x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1001, 0.08986, 1.113], "loss/graspness": [0.06332, 0.04722, 1.341], "loss/view": [0.7259, 0.7334, 0.99], "loss/angle": [1.349, 0.9369, 1.44], "loss/depth": [0.6618, 0.4363, 1.517], "loss/score": [1.186, 0.8125, 1.46], "loss/width": [0.5618, 0.3151, 1.783]}, "rise": {"loss/objectness": 0.006, "loss/graspness": 0.077, "loss/view": -0.04, "loss/angle": -0.022, "loss/depth": -0.02, "loss/score": -0.011, "loss/width": -0.093}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.5082, -0.155, -0.3756, -0.2144], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__CylinderGroup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=CylinderGroup -o stage__FineGrasp__grouper__CylinderGroup.yaml", "config_hash": "7d4c1b765ff08c06", "run": "2026-10-17@c43ea39", "seconds": 471.0},
  {"id": "stage/GraspNet-baseline/grouper/CylinderGroup", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=CylinderGroup", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.275x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.55x, loss/tolerance 0.37x"], "terms": {"loss/objectness": [0.4766, 0.3739, 1.275], "loss/view": [0.03144, 0.02976, 1.057], "loss/score": [0.02438, 0.02246, 1.085], "loss/angle": [0.3838, 0.3337, 1.15], "loss/width": [0.00715, 0.01289, 0.555], "loss/tolerance": [0.007455, 0.02008, 0.371]}, "rise": {"loss/objectness": -0.067, "loss/view": -0.052, "loss/score": -0.026, "loss/angle": -0.013, "loss/width": -0.29, "loss/tolerance": -0.493}, "grasps_per_frame": [359, 420, 406, 157], "no_gradient": [], "unchanged": [], "score_median": [0.05257, 0.3412, 0.1489, 0.2978], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__depth-embed.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=CylinderGroup -o stage__GraspNet-baseline__grouper__CylinderGroup.yaml", "config_hash": "bc71f84f1e18f9c9", "run": "2026-10-17@c43ea39", "seconds": 104.9},
  {"id": "stage/Scale-Balanced-Grasp/grouper/CylinderGroup", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=CylinderGroup", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.56x"], "terms": {"loss/objectness": [0.2031, 0.1975, 1.028], "loss/view": [0.08235, 0.08244, 0.999], "loss/score": [0.01463, 0.01418, 1.032], "loss/angle": [0.3673, 0.3132, 1.173], "loss/width": [0.006422, 0.01146, 0.561], "loss/tolerance": [0.005787, 0.007067, 0.819]}, "rise": {"loss/objectness": -0.113, "loss/view": -0.015, "loss/score": -0.021, "loss/angle": -0.033, "loss/width": -0.104, "loss/tolerance": -0.232}, "grasps_per_frame": [230, 150, 214, 182], "no_gradient": [], "unchanged": [], "score_median": [0.003356, 0.1605, 0.1162, 0.08342], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__depth-embed.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=CylinderGroup -o stage__Scale-Balanced-Grasp__grouper__CylinderGroup.yaml", "config_hash": "109560f514863a44", "run": "2026-10-17@c43ea39", "seconds": 128.8},
  {"id": "stage/GSNet/grouper/CylinderInteractionGroup", "kind": "grouper", "method": "GSNet", "option": "grouper=CylinderInteractionGroup", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1575, 0.1562, 1.009], "loss/graspness": [0.08684, 0.07598, 1.143], "loss/view": [0.8276, 0.8476, 0.976], "loss/score": [0.03134, 0.0313, 1.001], "loss/width": [0.09786, 0.101, 0.968]}, "rise": {"loss/objectness": -0.224, "loss/graspness": -0.332, "loss/view": 0.201, "loss/score": 0.272, "loss/width": -0.072}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06861, 0.07389, 0.06919, 0.0659], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__CylinderInteractionGroup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=CylinderInteractionGroup -o stage__GSNet__grouper__CylinderInteractionGroup.yaml", "config_hash": "97aa0142bc80ec7b", "run": "2026-10-17@c43ea39", "seconds": 215.0},
  {"id": "stage/FineGrasp/grouper/CylinderInteractionGroup", "kind": "grouper", "method": "FineGrasp", "option": "grouper=CylinderInteractionGroup", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.263x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.09866, 0.08986, 1.098], "loss/graspness": [0.05472, 0.04722, 1.159], "loss/view": [0.7528, 0.7334, 1.026], "loss/angle": [1.087, 0.9369, 1.16], "loss/depth": [0.4952, 0.4363, 1.135], "loss/score": [0.9362, 0.8125, 1.152], "loss/width": [0.3979, 0.3151, 1.263]}, "rise": {"loss/objectness": -0.155, "loss/graspness": -0.278, "loss/view": 0.0, "loss/angle": -0.146, "loss/depth": -0.172, "loss/score": -0.144, "loss/width": -0.25}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.775, -2.368, -2.559, -2.944], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__CylinderInteractionGroup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=CylinderInteractionGroup -o stage__FineGrasp__grouper__CylinderInteractionGroup.yaml", "config_hash": "ab298a786c6241d3", "run": "2026-10-17@c43ea39", "seconds": 494.0},
  {"id": "stage/GraspNet-baseline/grouper/CylinderInteractionGroup", "kind": "grouper", "method": "GraspNet-baseline", "option": "grouper=CylinderInteractionGroup", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.271x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.42x, loss/tolerance 0.27x"], "terms": {"loss/objectness": [0.4753, 0.3739, 1.271], "loss/view": [0.03152, 0.02976, 1.059], "loss/score": [0.02481, 0.02246, 1.104], "loss/angle": [0.3875, 0.3337, 1.161], "loss/width": [0.005394, 0.01289, 0.418], "loss/tolerance": [0.005492, 0.02008, 0.274]}, "rise": {"loss/objectness": -0.059, "loss/view": -0.066, "loss/score": -0.026, "loss/angle": -0.011, "loss/width": -0.199, "loss/tolerance": -0.368}, "grasps_per_frame": [361, 194, 603, 313], "no_gradient": [], "unchanged": [], "score_median": [0.2018, 0.1924, 0.1229, 0.03285], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__grouper__CylinderInteractionGroup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set grouper=CylinderInteractionGroup -o stage__GraspNet-baseline__grouper__CylinderInteractionGroup.yaml", "config_hash": "855ffb1f65e627a6", "run": "2026-10-17@c43ea39", "seconds": 86.4},
  {"id": "stage/Scale-Balanced-Grasp/grouper/CylinderInteractionGroup", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=CylinderInteractionGroup", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.45x, loss/tolerance 0.75x"], "terms": {"loss/objectness": [0.2202, 0.1975, 1.115], "loss/view": [0.08287, 0.08244, 1.005], "loss/score": [0.01527, 0.01418, 1.077], "loss/angle": [0.373, 0.3132, 1.191], "loss/width": [0.005181, 0.01146, 0.452], "loss/tolerance": [0.005282, 0.007067, 0.747]}, "rise": {"loss/objectness": -0.105, "loss/view": -0.015, "loss/score": -0.091, "loss/angle": -0.022, "loss/width": -0.289, "loss/tolerance": -0.218}, "grasps_per_frame": [20, 20, 10, 18], "no_gradient": [], "unchanged": [], "score_median": [0.06143, 0.1394, 0.1297, 0.1876], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__CylinderInteractionGroup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=CylinderInteractionGroup -o stage__Scale-Balanced-Grasp__grouper__CylinderInteractionGroup.yaml", "config_hash": "4b4a779a24ca89f1", "run": "2026-10-17@c43ea39", "seconds": 91.1},
  {"id": "stage/GSNet/grouper/DepthCylinderGroup", "kind": "grouper", "method": "GSNet", "option": "grouper=DepthCylinderGroup", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.80x"], "terms": {"loss/objectness": [0.1611, 0.1562, 1.032], "loss/graspness": [0.08587, 0.07598, 1.13], "loss/view": [0.8387, 0.8476, 0.989], "loss/score": [0.03099, 0.0313, 0.99], "loss/width": [0.08083, 0.101, 0.8]}, "rise": {"loss/objectness": -0.246, "loss/graspness": -0.356, "loss/view": 0.223, "loss/score": 0.369, "loss/width": -0.138}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07071, 0.06968, 0.07079, 0.07342], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__grouper__depth-pool.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set grouper=DepthCylinderGroup -o stage__GSNet__grouper__DepthCylinderGroup.yaml", "config_hash": "6b84d870d7740d5f", "run": "2026-10-17@c43ea39", "seconds": 199.3},
  {"id": "stage/EconomicGrasp/grouper/DepthCylinderGroup", "kind": "grouper", "method": "EconomicGrasp", "option": "grouper=DepthCylinderGroup", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.73x, loss/graspness 0.41x, loss/width 0.77x"], "terms": {"loss/objectness": [0.0915, 0.1259, 0.727], "loss/graspness": [0.02629, 0.06338, 0.415], "loss/view": [0.8534, 0.8303, 1.028], "loss/angle": [1.286, 1.543, 0.833], "loss/depth": [0.7135, 0.7779, 0.917], "loss/score": [1.121, 1.31, 0.856], "loss/width": [0.4406, 0.5737, 0.768]}, "rise": {"loss/objectness": -0.185, "loss/graspness": -0.468, "loss/view": -0.005, "loss/angle": 0.008, "loss/depth": 0.009, "loss/score": 0.041, "loss/width": -0.089}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [1.462, 1.556, 1.394, 1.588], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__grouper__depth-pool.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set grouper=DepthCylinderGroup -o stage__EconomicGrasp__grouper__DepthCylinderGroup.yaml", "config_hash": "b850092381a14d99", "run": "2026-10-17@c43ea39", "seconds": 226.3},
  {"id": "stage/FineGrasp/grouper/DepthCylinderGroup", "kind": "grouper", "method": "FineGrasp", "option": "grouper=DepthCylinderGroup", "level1": "runs", "outcome": "worse", "reasons": ["loss/depth 1.273x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.54x, loss/graspness 0.46x, loss/view 0.68x"], "terms": {"loss/objectness": [0.04826, 0.08986, 0.537], "loss/graspness": [0.02157, 0.04722, 0.457], "loss/view": [0.5017, 0.7334, 0.684], "loss/angle": [0.9941, 0.9369, 1.061], "loss/depth": [0.5556, 0.4363, 1.273], "loss/score": [0.9309, 0.8125, 1.146], "loss/width": [0.3748, 0.3151, 1.19]}, "rise": {"loss/objectness": -0.22, "loss/graspness": -0.096, "loss/view": -0.223, "loss/angle": -0.066, "loss/depth": -0.051, "loss/score": -0.021, "loss/width": -0.137}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.9972, 1.351, 1.118, 1.037], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__grouper__depth-pool.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set grouper=DepthCylinderGroup -o stage__FineGrasp__grouper__DepthCylinderGroup.yaml", "config_hash": "5c2965903ecf1b9e", "run": "2026-10-17@c43ea39", "seconds": 466.2},
  {"id": "stage/Scale-Balanced-Grasp/grouper/DepthCylinderGroup", "kind": "grouper", "method": "Scale-Balanced-Grasp", "option": "grouper=DepthCylinderGroup", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 2.241x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1664, 0.1975, 0.843], "loss/view": [0.08152, 0.08244, 0.989], "loss/score": [0.01388, 0.01418, 0.979], "loss/angle": [0.3146, 0.3132, 1.004], "loss/width": [0.01291, 0.01146, 1.127], "loss/tolerance": [0.01584, 0.007067, 2.241]}, "rise": {"loss/objectness": -0.098, "loss/view": -0.019, "loss/score": -0.072, "loss/angle": -0.058, "loss/width": -0.152, "loss/tolerance": -0.314}, "grasps_per_frame": [183, 197, 115, 124], "no_gradient": [], "unchanged": [], "score_median": [0.006826, 0.03677, 0.03811, 0.05683], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__grouper__DepthCylinderGroup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set grouper=DepthCylinderGroup -o stage__Scale-Balanced-Grasp__grouper__DepthCylinderGroup.yaml", "config_hash": "ac995b444ee62115", "run": "2026-10-17@c43ea39", "seconds": 119.3},
  {"id": "stage/GSNet/head/decoupled-grid-bins", "kind": "head", "method": "GSNet", "option": "head=decoupled-grid-bins", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1689, 0.1562, 1.082], "loss/graspness": [0.09192, 0.07598, 1.21], "loss/view": [0.7951, 0.8476, 0.938], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.26, "loss/graspness": -0.308, "loss/view": 0.193, "loss/score": 0.212, "loss/width": -0.04, "loss/angle": -0.022, "loss/depth": -0.034}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0305, 0.04424, 0.03199, 0.02129], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__decoupled-grid-bins.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=decoupled-grid-bins -o stage__GSNet__head__decoupled-grid-bins.yaml", "config_hash": "dff6576d6c2b429a", "run": "2026-10-17@c43ea39", "seconds": 140.1},
  {"id": "stage/EconomicGrasp/head/decoupled-grid-bins", "kind": "head", "method": "EconomicGrasp", "option": "head=decoupled-grid-bins", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +19 % over the last half; the reference +4 %"], "notes": ["lower than the reference: loss/graspness 0.63x"], "terms": {"loss/objectness": [0.1079, 0.1259, 0.857], "loss/graspness": [0.03992, 0.06338, 0.63], "loss/view": [0.8102, 0.8303, 0.976], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.147, "loss/graspness": -0.461, "loss/view": 0.119, "loss/angle": -0.046, "loss/depth": -0.05, "loss/score": 0.191, "loss/width": -0.043}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08018, 0.0757, 0.07052, 0.06472], "checked": [18, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__decoupled-grid-bins.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=decoupled-grid-bins -o stage__EconomicGrasp__head__decoupled-grid-bins.yaml", "config_hash": "c6f1937c6da22f8a", "run": "2026-10-17@c43ea39", "seconds": 161.3},
  {"id": "stage/FineGrasp/head/decoupled-grid-bins", "kind": "head", "method": "FineGrasp", "option": "head=decoupled-grid-bins", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08705, 0.08986, 0.969], "loss/graspness": [0.04575, 0.04722, 0.969], "loss/view": [0.6419, 0.7334, 0.875], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.071, "loss/graspness": -0.057, "loss/view": -0.054, "loss/angle": -0.105, "loss/depth": -0.072, "loss/score": 0.071, "loss/width": -0.066}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03993, 0.04353, 0.04299, 0.0341], "checked": [17, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__decoupled-grid-bins.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=decoupled-grid-bins -o stage__FineGrasp__head__decoupled-grid-bins.yaml", "config_hash": "2218bb77b37b6c56", "run": "2026-10-17@c43ea39", "seconds": 566.3},
  {"id": "stage/GraspNet-baseline/head/decoupled-grid-bins", "kind": "head", "method": "GraspNet-baseline", "option": "head=decoupled-grid-bins", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3801, 0.3739, 1.017], "loss/view": [0.02988, 0.02976, 1.004], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.102, "loss/view": -0.041, "loss/score": -0.025, "loss/angle": -0.038, "loss/width": -0.031, "loss/depth": -0.048}, "grasps_per_frame": [424, 311, 233, 307], "no_gradient": [], "unchanged": [], "score_median": [0.02262, 0.0343, 0.004087, 0.007789], "checked": [18, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__head__decoupled-grid-bins.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head=decoupled-grid-bins -o stage__GraspNet-baseline__head__decoupled-grid-bins.yaml", "config_hash": "b4bb31659f9b2a63", "run": "2026-10-17@c43ea39", "seconds": 87.1},
  {"id": "stage/Scale-Balanced-Grasp/head/decoupled-grid-bins", "kind": "head", "method": "Scale-Balanced-Grasp", "option": "head=decoupled-grid-bins", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1869, 0.1975, 0.947], "loss/view": [0.08304, 0.08244, 1.007], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.037, "loss/view": -0.008, "loss/score": -0.009, "loss/angle": -0.06, "loss/width": -0.055, "loss/depth": -0.056}, "grasps_per_frame": [236, 227, 168, 73], "no_gradient": [], "unchanged": [], "score_median": [0.04642, 0.04429, 0.04451, 0.008272], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__head__decoupled-grid-bins.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head=decoupled-grid-bins -o stage__Scale-Balanced-Grasp__head__decoupled-grid-bins.yaml", "config_hash": "f246a7f39793b483", "run": "2026-10-17@c43ea39", "seconds": 130.1},
  {"id": "stage/GSNet/head/decoupled-grid-class", "kind": "head", "method": "GSNet", "option": "head=decoupled-grid-class", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.278x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1636, 0.1562, 1.048], "loss/graspness": [0.09713, 0.07598, 1.278], "loss/view": [0.7671, 0.8476, 0.905], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.288, "loss/graspness": -0.276, "loss/view": 0.19, "loss/score": 0.171, "loss/width": -0.04, "loss/angle": -0.024, "loss/depth": -0.032}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.02511, 0.04, 0.03568, 0.02619], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__decoupled-grid-class.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=decoupled-grid-class -o stage__GSNet__head__decoupled-grid-class.yaml", "config_hash": "dcf19acecaf00cbc", "run": "2026-10-17@c43ea39", "seconds": 148.7},
  {"id": "stage/EconomicGrasp/head/decoupled-grid-class", "kind": "head", "method": "EconomicGrasp", "option": "head=decoupled-grid-class", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +24 % over the last half; the reference +4 %"], "notes": ["lower than the reference: loss/graspness 0.65x"], "terms": {"loss/objectness": [0.1101, 0.1259, 0.875], "loss/graspness": [0.04131, 0.06338, 0.652], "loss/view": [0.8134, 0.8303, 0.98], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.096, "loss/graspness": -0.267, "loss/view": 0.048, "loss/angle": -0.015, "loss/depth": -0.017, "loss/score": 0.237, "loss/width": -0.026}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04714, 0.04781, 0.04874, 0.04881], "checked": [18, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__decoupled-grid-class.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=decoupled-grid-class -o stage__EconomicGrasp__head__decoupled-grid-class.yaml", "config_hash": "bd76301c3efbd78b", "run": "2026-10-17@c43ea39", "seconds": 140.8},
  {"id": "stage/FineGrasp/head/decoupled-grid-class", "kind": "head", "method": "FineGrasp", "option": "head=decoupled-grid-class", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.07598, 0.08986, 0.845], "loss/graspness": [0.03874, 0.04722, 0.82], "loss/view": [0.6468, 0.7334, 0.882], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.147, "loss/graspness": -0.242, "loss/view": -0.025, "loss/angle": -0.084, "loss/depth": -0.084, "loss/score": 0.085, "loss/width": -0.073}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06296, 0.08996, 0.05746, 0.1071], "checked": [17, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__decoupled-grid-class.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=decoupled-grid-class -o stage__FineGrasp__head__decoupled-grid-class.yaml", "config_hash": "8355f96721c9bd70", "run": "2026-10-17@c43ea39", "seconds": 551.4},
  {"id": "stage/GraspNet-baseline/head/decoupled-grid-class", "kind": "head", "method": "GraspNet-baseline", "option": "head=decoupled-grid-class", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3708, 0.3739, 0.992], "loss/view": [0.02996, 0.02976, 1.007], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.085, "loss/view": -0.032, "loss/score": -0.102, "loss/angle": -0.044, "loss/width": -0.022, "loss/depth": -0.048}, "grasps_per_frame": [415, 239, 374, 480], "no_gradient": [], "unchanged": [], "score_median": [0.02068, -0.008605, 0.02637, 0.01945], "checked": [18, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__head__decoupled-grid-class.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head=decoupled-grid-class -o stage__GraspNet-baseline__head__decoupled-grid-class.yaml", "config_hash": "d7c1d8bc036569b9", "run": "2026-10-17@c43ea39", "seconds": 84.6},
  {"id": "stage/Scale-Balanced-Grasp/head/decoupled-grid-class", "kind": "head", "method": "Scale-Balanced-Grasp", "option": "head=decoupled-grid-class", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1941, 0.1975, 0.983], "loss/view": [0.084, 0.08244, 1.019], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.021, "loss/view": -0.003, "loss/score": -0.082, "loss/angle": -0.049, "loss/width": -0.065, "loss/depth": -0.055}, "grasps_per_frame": [48, 60, 8, 22], "no_gradient": [], "unchanged": [], "score_median": [-0.005267, 0.009661, 0.02779, 0.007313], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__head__decoupled-grid-class.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head=decoupled-grid-class -o stage__Scale-Balanced-Grasp__head__decoupled-grid-class.yaml", "config_hash": "ddf20cbc564c8561", "run": "2026-10-17@c43ea39", "seconds": 116.8},
  {"id": "stage/GSNet/head/decoupled-grid-regression", "kind": "head", "method": "GSNet", "option": "head=decoupled-grid-regression", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +40 % over the last half; the reference +20 %"], "terms": {"loss/objectness": [0.1517, 0.1562, 0.971], "loss/graspness": [0.08256, 0.07598, 1.087], "loss/view": [0.8374, 0.8476, 0.988], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.244, "loss/graspness": -0.359, "loss/view": 0.225, "loss/score": 0.4, "loss/width": -0.085, "loss/angle": -0.03, "loss/depth": -0.037}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.02637, 0.02961, 0.03022, 0.02465], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__decoupled-grid-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=decoupled-grid-regression -o stage__GSNet__head__decoupled-grid-regression.yaml", "config_hash": "15f708e8ee3c1b80", "run": "2026-10-17@c43ea39", "seconds": 154.6},
  {"id": "stage/EconomicGrasp/head/decoupled-grid-regression", "kind": "head", "method": "EconomicGrasp", "option": "head=decoupled-grid-regression", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +21 % over the last half; the reference +4 %"], "notes": ["lower than the reference: loss/graspness 0.48x"], "terms": {"loss/objectness": [0.1085, 0.1259, 0.862], "loss/graspness": [0.03035, 0.06338, 0.479], "loss/view": [0.8474, 0.8303, 1.021], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.131, "loss/graspness": -0.494, "loss/view": 0.116, "loss/angle": -0.03, "loss/depth": -0.081, "loss/score": 0.208, "loss/width": -0.13}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05238, 0.04681, 0.05345, 0.05286], "checked": [18, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__decoupled-grid-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=decoupled-grid-regression -o stage__EconomicGrasp__head__decoupled-grid-regression.yaml", "config_hash": "0f0aa44bf7ec817c", "run": "2026-10-17@c43ea39", "seconds": 139.8},
  {"id": "stage/FineGrasp/head/decoupled-grid-regression", "kind": "head", "method": "FineGrasp", "option": "head=decoupled-grid-regression", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +22 % over the last half; the reference -13 %"], "terms": {"loss/objectness": [0.07775, 0.08986, 0.865], "loss/graspness": [0.04124, 0.04722, 0.873], "loss/view": [0.6174, 0.7334, 0.842], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.088, "loss/graspness": -0.071, "loss/view": -0.089, "loss/angle": -0.126, "loss/depth": -0.065, "loss/score": 0.218, "loss/width": -0.08}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0471, 0.04104, 0.04765, 0.05527], "checked": [17, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__decoupled-grid-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=decoupled-grid-regression -o stage__FineGrasp__head__decoupled-grid-regression.yaml", "config_hash": "6084db1933039dbc", "run": "2026-10-17@c43ea39", "seconds": 561.5},
  {"id": "stage/GraspNet-baseline/head/decoupled-grid-regression", "kind": "head", "method": "GraspNet-baseline", "option": "head=decoupled-grid-regression", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3638, 0.3739, 0.973], "loss/view": [0.02992, 0.02976, 1.005], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.099, "loss/view": -0.039, "loss/score": -0.148, "loss/angle": -0.051, "loss/width": -0.073, "loss/depth": -0.098}, "grasps_per_frame": [491, 260, 377, 465], "no_gradient": [], "unchanged": [], "score_median": [0.02968, 0.0261, 0.03397, 0.0282], "checked": [18, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__head__decoupled-grid-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head=decoupled-grid-regression -o stage__GraspNet-baseline__head__decoupled-grid-regression.yaml", "config_hash": "3f73c416beb0b5f5", "run": "2026-10-17@c43ea39", "seconds": 89.3},
  {"id": "stage/Scale-Balanced-Grasp/head/decoupled-grid-regression", "kind": "head", "method": "Scale-Balanced-Grasp", "option": "head=decoupled-grid-regression", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1767, 0.1975, 0.895], "loss/view": [0.08098, 0.08244, 0.982], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.144, "loss/view": -0.027, "loss/score": 0.008, "loss/angle": -0.087, "loss/width": -0.058, "loss/depth": -0.022}, "grasps_per_frame": [70, 89, 49, 35], "no_gradient": [], "unchanged": [], "score_median": [0.01229, -0.0004736, -0.001685, 0.01081], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__head__decoupled-grid-regression.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head=decoupled-grid-regression -o stage__Scale-Balanced-Grasp__head__decoupled-grid-regression.yaml", "config_hash": "23f40e02956f0a59", "run": "2026-10-17@c43ea39", "seconds": 124.8},
  {"id": "stage/GSNet/head/decoupled-grid", "kind": "head", "method": "GSNet", "option": "head=decoupled-grid", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.250x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1605, 0.1562, 1.027], "loss/graspness": [0.09497, 0.07598, 1.25], "loss/view": [0.7734, 0.8476, 0.912], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.273, "loss/graspness": -0.303, "loss/view": 0.221, "loss/score": 0.308, "loss/width": -0.124, "loss/angle": -0.017, "loss/depth": -0.042}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04125, 0.02448, 0.02487, 0.02473], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__decoupled-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=decoupled-grid -o stage__GSNet__head__decoupled-grid.yaml", "config_hash": "d47f23fe347390bb", "run": "2026-10-17@c43ea39", "seconds": 142.2},
  {"id": "stage/EconomicGrasp/head/decoupled-grid", "kind": "head", "method": "EconomicGrasp", "option": "head=decoupled-grid", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +31 % over the last half; the reference +4 %"], "notes": ["lower than the reference: loss/graspness 0.50x"], "terms": {"loss/objectness": [0.102, 0.1259, 0.81], "loss/graspness": [0.03191, 0.06338, 0.503], "loss/view": [0.8514, 0.8303, 1.025], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.166, "loss/graspness": -0.528, "loss/view": 0.133, "loss/angle": -0.03, "loss/depth": -0.065, "loss/score": 0.313, "loss/width": -0.131}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06466, 0.0636, 0.06219, 0.0567], "checked": [18, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__decoupled-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=decoupled-grid -o stage__EconomicGrasp__head__decoupled-grid.yaml", "config_hash": "48c45997e9a290e3", "run": "2026-10-17@c43ea39", "seconds": 161.8},
  {"id": "stage/FineGrasp/head/decoupled-grid", "kind": "head", "method": "FineGrasp", "option": "head=decoupled-grid", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.0805, 0.08986, 0.896], "loss/graspness": [0.03841, 0.04722, 0.813], "loss/view": [0.6301, 0.7334, 0.859], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.083, "loss/graspness": -0.04, "loss/view": -0.086, "loss/angle": -0.113, "loss/depth": -0.078, "loss/score": 0.1, "loss/width": -0.1}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05846, 0.05617, 0.07179, 0.06091], "checked": [17, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__decoupled-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=decoupled-grid -o stage__FineGrasp__head__decoupled-grid.yaml", "config_hash": "73ffed831e746a18", "run": "2026-10-17@c43ea39", "seconds": 565.3},
  {"id": "stage/GraspNet-baseline/head/decoupled-grid", "kind": "head", "method": "GraspNet-baseline", "option": "head=decoupled-grid", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3625, 0.3739, 0.97], "loss/view": [0.02974, 0.02976, 0.999], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.079, "loss/view": -0.032, "loss/score": -0.059, "loss/angle": -0.053, "loss/width": -0.14, "loss/depth": -0.069}, "grasps_per_frame": [485, 323, 622, 388], "no_gradient": [], "unchanged": [], "score_median": [0.01964, 0.02084, 0.02179, 0.02768], "checked": [18, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__head__decoupled-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head=decoupled-grid -o stage__GraspNet-baseline__head__decoupled-grid.yaml", "config_hash": "07e039358f2ead46", "run": "2026-10-17@c43ea39", "seconds": 87.6},
  {"id": "stage/Scale-Balanced-Grasp/head/decoupled-grid", "kind": "head", "method": "Scale-Balanced-Grasp", "option": "head=decoupled-grid", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1836, 0.1975, 0.93], "loss/view": [0.08206, 0.08244, 0.995], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.111, "loss/view": -0.021, "loss/score": -0.007, "loss/angle": -0.049, "loss/width": -0.013, "loss/depth": -0.075}, "grasps_per_frame": [97, 96, 77, 63], "no_gradient": [], "unchanged": [], "score_median": [0.01734, 0.001122, 0.01008, -0.006858], "checked": [16, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__head__decoupled-grid.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head=decoupled-grid -o stage__Scale-Balanced-Grasp__head__decoupled-grid.yaml", "config_hash": "59cc1bfe404bb962", "run": "2026-10-17@c43ea39", "seconds": 123.3},
  {"id": "stage/GSNet/head/economic-focal", "kind": "head", "method": "GSNet", "option": "head=economic-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1628, 0.1562, 1.042], "loss/graspness": [0.08177, 0.07598, 1.076], "loss/view": [0.8905, 0.8476, 1.051], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.228, "loss/graspness": -0.313, "loss/view": 0.049, "loss/score": 0.094, "loss/width": -0.063, "loss/angle": 0.085, "loss/depth": 0.052}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.2889, -0.2, -0.254, -0.333], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__economic-focal.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=economic-focal -o stage__GSNet__head__economic-focal.yaml", "config_hash": "bec935dad5539f21", "run": "2026-10-17@c43ea39", "seconds": 141.6},
  {"id": "stage/EconomicGrasp/head/economic-focal", "kind": "head", "method": "EconomicGrasp", "option": "head=economic-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1246, 0.1259, 0.99], "loss/graspness": [0.05697, 0.06338, 0.899], "loss/view": [0.8453, 0.8303, 1.018], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.153, "loss/graspness": -0.412, "loss/view": 0.039, "loss/angle": 0.052, "loss/depth": 0.054, "loss/score": 0.083, "loss/width": -0.107}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.444, -1.304, -1.129, -1.042], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__economic-focal.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=economic-focal -o stage__EconomicGrasp__head__economic-focal.yaml", "config_hash": "92fdbe01d270a99b", "run": "2026-10-17@c43ea39", "seconds": 139.2},
  {"id": "stage/FineGrasp/head/economic-focal", "kind": "head", "method": "FineGrasp", "option": "head=economic-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08367, 0.08986, 0.931], "loss/graspness": [0.0437, 0.04722, 0.926], "loss/view": [0.7349, 0.7334, 1.002], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.142, "loss/graspness": -0.211, "loss/view": -0.037, "loss/angle": -0.251, "loss/depth": -0.172, "loss/score": -0.175, "loss/width": -0.201}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.367, -1.874, -2.283, -2.56], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__economic-focal.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=economic-focal -o stage__FineGrasp__head__economic-focal.yaml", "config_hash": "f0b172c9641b8b8b", "run": "2026-10-17@c43ea39", "seconds": 562.0},
  {"id": "stage/GSNet/head/economic", "kind": "head", "method": "GSNet", "option": "head=economic", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1637, 0.1562, 1.048], "loss/graspness": [0.08724, 0.07598, 1.148], "loss/view": [0.8732, 0.8476, 1.03], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.227, "loss/graspness": -0.287, "loss/view": 0.047, "loss/score": 0.076, "loss/width": -0.063, "loss/angle": 0.072, "loss/depth": 0.04}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.9315, -0.9136, -0.9649, -0.9463], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__economic.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=economic -o stage__GSNet__head__economic.yaml", "config_hash": "04c47786d03db3ac", "run": "2026-10-17@c43ea39", "seconds": 146.0},
  {"id": "stage/GSNet/head/operation-objectness", "kind": "head", "method": "GSNet", "option": "head=operation-objectness", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.355x the reference (tolerance 1.25)", "loss/graspness 1.621x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2116, 0.1562, 1.355], "loss/graspness": [0.1231, 0.07598, 1.621], "loss/view": [0.6965, 0.8476, 0.822], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.288, "loss/graspness": -0.239, "loss/view": 0.158, "loss/score": -0.033, "loss/width": -0.487, "loss/angle": -0.027, "loss/tolerance": -0.567}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1516, 0.14, 0.1481, 0.138], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__operation-objectness.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=operation-objectness -o stage__GSNet__head__operation-objectness.yaml", "config_hash": "13c1a3b52cb28e5a", "run": "2026-10-17@c43ea39", "seconds": 151.1},
  {"id": "stage/EconomicGrasp/head/operation-objectness", "kind": "head", "method": "EconomicGrasp", "option": "head=operation-objectness", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.509x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.78x"], "terms": {"loss/objectness": [0.1508, 0.1259, 1.198], "loss/graspness": [0.09562, 0.06338, 1.509], "loss/view": [0.6464, 0.8303, 0.779], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.335, "loss/graspness": -0.318, "loss/view": 0.067, "loss/angle": -0.035, "loss/score": 0.013, "loss/width": -0.09, "loss/tolerance": -0.248}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07127, 0.05838, 0.07883, 0.06753], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__operation-objectness.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=operation-objectness -o stage__EconomicGrasp__head__operation-objectness.yaml", "config_hash": "6b791e13c5ac8e63", "run": "2026-10-17@c43ea39", "seconds": 187.9},
  {"id": "stage/FineGrasp/head/operation-objectness", "kind": "head", "method": "FineGrasp", "option": "head=operation-objectness", "level1": "runs", "outcome": "diverging", "reasons": ["loss/tolerance rises +24 % over the last half"], "notes": ["lower than the reference: loss/objectness 0.70x, loss/graspness 0.69x, loss/view 0.76x"], "terms": {"loss/objectness": [0.06335, 0.08986, 0.705], "loss/graspness": [0.03256, 0.04722, 0.69], "loss/view": [0.5588, 0.7334, 0.762], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.294, "loss/graspness": -0.385, "loss/view": -0.103, "loss/angle": -0.049, "loss/score": -0.043, "loss/width": -0.11, "loss/tolerance": 0.242}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03344, 0.02079, 0.0344, 0.1415], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__operation-objectness.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=operation-objectness -o stage__FineGrasp__head__operation-objectness.yaml", "config_hash": "c3bbb556c7e640ab", "run": "2026-10-17@c43ea39", "seconds": 634.9},
  {"id": "stage/GraspNet-baseline/head/operation-objectness", "kind": "head", "method": "GraspNet-baseline", "option": "head=operation-objectness", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3614, 0.3739, 0.967], "loss/view": [0.02955, 0.02976, 0.993], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.105, "loss/view": -0.041, "loss/score": -0.07, "loss/angle": -0.057, "loss/width": -0.173, "loss/tolerance": -0.299}, "grasps_per_frame": [371, 383, 565, 383], "no_gradient": [], "unchanged": [], "score_median": [0.0818, 0.09016, 0.1502, 0.1036], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__head__operation-objectness.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head=operation-objectness -o stage__GraspNet-baseline__head__operation-objectness.yaml", "config_hash": "ea56047c6b0f66e9", "run": "2026-10-17@c43ea39", "seconds": 85.8},
  {"id": "stage/GSNet/head/operation", "kind": "head", "method": "GSNet", "option": "head=operation", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.333x the reference (tolerance 1.25)", "loss/graspness 1.639x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2082, 0.1562, 1.333], "loss/graspness": [0.1245, 0.07598, 1.639], "loss/view": [0.7105, 0.8476, 0.838], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.28, "loss/graspness": -0.228, "loss/view": 0.171, "loss/score": -0.028, "loss/width": -0.088, "loss/angle": -0.032, "loss/tolerance": -0.266}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1211, 0.1421, 0.1084, 0.1122], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__operation.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=operation -o stage__GSNet__head__operation.yaml", "config_hash": "9d06071fd2751911", "run": "2026-10-17@c43ea39", "seconds": 138.4},
  {"id": "stage/EconomicGrasp/head/operation", "kind": "head", "method": "EconomicGrasp", "option": "head=operation", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.259x the reference (tolerance 1.25)", "loss/graspness 1.727x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.78x"], "terms": {"loss/objectness": [0.1585, 0.1259, 1.259], "loss/graspness": [0.1095, 0.06338, 1.727], "loss/view": [0.6472, 0.8303, 0.779], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.372, "loss/graspness": -0.254, "loss/view": 0.059, "loss/angle": -0.029, "loss/score": -0.018, "loss/width": -0.176, "loss/tolerance": -0.283}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1385, 0.1019, 0.134, -0.01337], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__operation.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=operation -o stage__EconomicGrasp__head__operation.yaml", "config_hash": "20ed7e7c82710235", "run": "2026-10-17@c43ea39", "seconds": 191.0},
  {"id": "stage/FineGrasp/head/operation", "kind": "head", "method": "FineGrasp", "option": "head=operation", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.71x, loss/graspness 0.67x, loss/view 0.76x"], "terms": {"loss/objectness": [0.0636, 0.08986, 0.708], "loss/graspness": [0.03178, 0.04722, 0.673], "loss/view": [0.5561, 0.7334, 0.758], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.268, "loss/graspness": -0.244, "loss/view": -0.142, "loss/angle": -0.048, "loss/score": -0.095, "loss/width": -0.081, "loss/tolerance": -0.048}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.004628, 0.01962, 0.01048, 0.05839], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__operation.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=operation -o stage__FineGrasp__head__operation.yaml", "config_hash": "2e3809e88c130f21", "run": "2026-10-17@c43ea39", "seconds": 624.5},
  {"id": "stage/Scale-Balanced-Grasp/head/operation", "kind": "head", "method": "Scale-Balanced-Grasp", "option": "head=operation", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1882, 0.1975, 0.953], "loss/view": [0.08238, 0.08244, 0.999], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.095, "loss/view": -0.019, "loss/score": -0.065, "loss/angle": -0.058, "loss/width": -0.107, "loss/tolerance": -0.273}, "grasps_per_frame": [358, 295, 315, 163], "no_gradient": [], "unchanged": [], "score_median": [0.1181, 0.1512, 0.09866, 0.09284], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__head__operation.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head=operation -o stage__Scale-Balanced-Grasp__head__operation.yaml", "config_hash": "74471e8dd697bbab", "run": "2026-10-17@c43ea39", "seconds": 129.5},
  {"id": "stage/GSNet/head/swad-focal", "kind": "head", "method": "GSNet", "option": "head=swad-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1613, 0.1562, 1.033], "loss/graspness": [0.07381, 0.07598, 0.972], "loss/view": [0.838, 0.8476, 0.989], "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.205, "loss/graspness": -0.373, "loss/view": 0.191, "loss/score": 0.315, "loss/width": -0.106}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1328, 0.1446, 0.1544, 0.1654], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GSNet__head__swad-focal.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head=swad-focal -o stage__GSNet__head__swad-focal.yaml", "config_hash": "ea6e340bc684d624", "run": "2026-10-17@c43ea39", "seconds": 144.1},
  {"id": "stage/EconomicGrasp/head/swad-focal", "kind": "head", "method": "EconomicGrasp", "option": "head=swad-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.76x, loss/graspness 0.46x"], "terms": {"loss/objectness": [0.09566, 0.1259, 0.76], "loss/graspness": [0.02897, 0.06338, 0.457], "loss/view": [0.8568, 0.8303, 1.032], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.175, "loss/graspness": -0.465, "loss/view": 0.104, "loss/score": 0.156, "loss/width": -0.133}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1625, 0.1472, 0.1566, 0.1475], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__swad-focal.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=swad-focal -o stage__EconomicGrasp__head__swad-focal.yaml", "config_hash": "a7a02a2e1579200b", "run": "2026-10-17@c43ea39", "seconds": 151.5},
  {"id": "stage/FineGrasp/head/swad-focal", "kind": "head", "method": "FineGrasp", "option": "head=swad-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.57x, loss/graspness 0.51x, loss/view 0.76x"], "terms": {"loss/objectness": [0.05153, 0.08986, 0.573], "loss/graspness": [0.02423, 0.04722, 0.513], "loss/view": [0.5577, 0.7334, 0.76], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.279, "loss/graspness": -0.322, "loss/view": -0.172, "loss/score": -0.103, "loss/width": -0.224}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1544, 0.1659, 0.1734, 0.1608], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__swad-focal.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=swad-focal -o stage__FineGrasp__head__swad-focal.yaml", "config_hash": "17346b370ebce0d1", "run": "2026-10-17@c43ea39", "seconds": 569.7},
  {"id": "stage/GraspNet-baseline/head/swad-focal", "kind": "head", "method": "GraspNet-baseline", "option": "head=swad-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3502, 0.3739, 0.937], "loss/view": [0.02949, 0.02976, 0.991], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.115, "loss/view": -0.044, "loss/score": -0.061, "loss/width": -0.104}, "grasps_per_frame": [296, 321, 228, 413], "no_gradient": [], "unchanged": [], "score_median": [0.1243, 0.1386, 0.1244, 0.1247], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__head__swad-focal.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head=swad-focal -o stage__GraspNet-baseline__head__swad-focal.yaml", "config_hash": "3089a2123a66504b", "run": "2026-10-17@c43ea39", "seconds": 86.6},
  {"id": "stage/Scale-Balanced-Grasp/head/swad-focal", "kind": "head", "method": "Scale-Balanced-Grasp", "option": "head=swad-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1654, 0.1975, 0.838], "loss/view": [0.08107, 0.08244, 0.983], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.127, "loss/view": -0.021, "loss/score": -0.027, "loss/width": -0.082}, "grasps_per_frame": [120, 140, 112, 123], "no_gradient": [], "unchanged": [], "score_median": [0.1232, 0.1207, 0.1284, 0.1137], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__head__swad-focal.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head=swad-focal -o stage__Scale-Balanced-Grasp__head__swad-focal.yaml", "config_hash": "4c405c298ace283d", "run": "2026-10-17@c43ea39", "seconds": 124.0},
  {"id": "stage/EconomicGrasp/head/swad", "kind": "head", "method": "EconomicGrasp", "option": "head=swad", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +26 % over the last half; the reference +4 %"], "notes": ["lower than the reference: loss/objectness 0.76x, loss/graspness 0.46x"], "terms": {"loss/objectness": [0.09598, 0.1259, 0.762], "loss/graspness": [0.02944, 0.06338, 0.464], "loss/view": [0.8792, 0.8303, 1.059], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.173, "loss/graspness": -0.485, "loss/view": 0.116, "loss/score": 0.256, "loss/width": -0.118}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07751, 0.08015, 0.07567, 0.07252], "checked": [14, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__EconomicGrasp__head__swad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head=swad -o stage__EconomicGrasp__head__swad.yaml", "config_hash": "bd46bdc9ac4834a8", "run": "2026-10-17@c43ea39", "seconds": 145.6},
  {"id": "stage/FineGrasp/head/swad", "kind": "head", "method": "FineGrasp", "option": "head=swad", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.59x, loss/graspness 0.51x, loss/view 0.77x"], "terms": {"loss/objectness": [0.05282, 0.08986, 0.588], "loss/graspness": [0.02424, 0.04722, 0.513], "loss/view": [0.563, 0.7334, 0.768], "loss/angle": "the head bundle defines its targets and its loss", "loss/depth": "the head bundle defines its targets and its loss", "loss/score": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.244, "loss/graspness": -0.25, "loss/view": -0.166, "loss/score": 0.013, "loss/width": -0.203}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04833, 0.04901, 0.05022, 0.05629], "checked": [13, 5], "schedule": "recipe", "probe": "grasppanda probe stage__FineGrasp__head__swad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head=swad -o stage__FineGrasp__head__swad.yaml", "config_hash": "4d027ef766cc7e7c", "run": "2026-10-17@c43ea39", "seconds": 563.7},
  {"id": "stage/GraspNet-baseline/head/swad", "kind": "head", "method": "GraspNet-baseline", "option": "head=swad", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3679, 0.3739, 0.984], "loss/view": [0.0294, 0.02976, 0.988], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.073, "loss/view": -0.038, "loss/score": -0.079, "loss/width": -0.126}, "grasps_per_frame": [450, 281, 504, 475], "no_gradient": [], "unchanged": [], "score_median": [0.07769, 0.07285, 0.07876, 0.07725], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__GraspNet-baseline__head__swad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head=swad -o stage__GraspNet-baseline__head__swad.yaml", "config_hash": "e48db5776d77ea1b", "run": "2026-10-17@c43ea39", "seconds": 98.2},
  {"id": "stage/Scale-Balanced-Grasp/head/swad", "kind": "head", "method": "Scale-Balanced-Grasp", "option": "head=swad", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1649, 0.1975, 0.835], "loss/view": [0.08122, 0.08244, 0.985], "loss/score": "the head bundle defines its targets and its loss", "loss/angle": "the head bundle defines its targets and its loss", "loss/width": "the head bundle defines its targets and its loss", "loss/tolerance": "the head bundle defines its targets and its loss"}, "rise": {"loss/objectness": -0.159, "loss/view": -0.025, "loss/score": -0.193, "loss/width": -0.217}, "grasps_per_frame": [53, 51, 63, 46], "no_gradient": [], "unchanged": [], "score_median": [0.08799, 0.08037, 0.08127, 0.06994], "checked": [12, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe stage__Scale-Balanced-Grasp__head__swad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head=swad -o stage__Scale-Balanced-Grasp__head__swad.yaml", "config_hash": "dc648bb3fce63151", "run": "2026-10-17@c43ea39", "seconds": 122.0},
  {"id": "loss/GSNet/focal+quality-focal+balanced-l1@proposal.objectness_loss+head.score_loss+head.width_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=focal, head.score_loss=quality-focal, head.width_loss=balanced-l1", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +44 % over the last half; the reference +20 %"], "terms": {"loss/objectness": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 1.0})", "loss/graspness": [0.09036, 0.07598, 1.189], "loss/view": [0.7652, 0.8476, 0.903], "loss/score": "its loss is replaced (QualityFocal)", "loss/width": "its loss is replaced (BalancedL1)"}, "rise": {"loss/objectness": -0.128, "loss/graspness": -0.358, "loss/view": 0.272, "loss/score": 0.438, "loss/width": -0.085}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1761, 0.1734, 0.1791, 0.1574], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__focal+quality-focal+balanced-l1@proposal.objectness_loss+head.score_loss+head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=focal --set head.score_loss=quality-focal --set head.width_loss=balanced-l1 -o loss__GSNet__focal+quality-focal+balanced-l1@proposal.objectness_loss+head.score_loss+head.width_loss.yaml", "config_hash": "242ec69174472676", "run": "2026-10-17@c43ea39", "seconds": 132.0},
  {"id": "loss/GSNet/softmax-focal+varifocal+huber@proposal.objectness_loss+head.score_loss+head.width_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=softmax-focal, head.score_loss=varifocal, head.width_loss=huber", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +43 % over the last half; the reference +20 %"], "terms": {"loss/objectness": "its loss is replaced ({\"alpha\": null, \"gamma\": 2.0, \"type\": \"SoftmaxFocalLoss\", \"weight\": 1.0})", "loss/graspness": [0.07918, 0.07598, 1.042], "loss/view": [0.8405, 0.8476, 0.992], "loss/score": "its loss is replaced (Varifocal)", "loss/width": "its loss is replaced (Huber)"}, "rise": {"loss/objectness": -0.183, "loss/graspness": -0.372, "loss/view": 0.237, "loss/score": 0.435, "loss/width": -0.104}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.2214, 0.2206, 0.229, 0.2526], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__softmax-focal+varifocal+huber@proposal.objectness_loss+head.score_loss+head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=softmax-focal --set head.score_loss=varifocal --set head.width_loss=huber -o loss__GSNet__softmax-focal+varifocal+huber@proposal.objectness_loss+head.score_loss+head.width_loss.yaml", "config_hash": "1769609b74d567b8", "run": "2026-10-17@c43ea39", "seconds": 126.6},
  {"id": "loss/GSNet/label-smoothing+bce+ghm-r@proposal.objectness_loss+proposal.graspness_loss+head.width_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=label-smoothing, proposal.graspness_loss=bce, head.width_loss=ghm-r", "level1": "runs", "outcome": "worse", "reasons": ["loss/score 1.274x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "its loss is replaced (LabelSmoothingCrossEntropy)", "loss/graspness": "its loss is replaced (BinaryCrossEntropy)", "loss/view": [0.9359, 0.8476, 1.104], "loss/score": [0.03988, 0.0313, 1.274], "loss/width": "its loss is replaced (GHMR)"}, "rise": {"loss/objectness": -0.157, "loss/graspness": -0.067, "loss/view": 0.042, "loss/score": 0.011, "loss/width": -0.027}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08979, 0.0956, 0.09256, 0.09322], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__label-smoothing+bce+ghm-r@proposal.objectness_loss+proposal.graspness_loss+head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=label-smoothing --set proposal.graspness_loss=bce --set head.width_loss=ghm-r -o loss__GSNet__label-smoothing+bce+ghm-r@proposal.objectness_loss+proposal.graspness_loss+head.width_loss.yaml", "config_hash": "5c523591f3a02305", "run": "2026-10-17@c43ea39", "seconds": 131.1},
  {"id": "loss/GSNet/poly1+ghm-c+charbonnier@proposal.objectness_loss+head.score_loss+head.width_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=poly1, head.score_loss=ghm-c, head.width_loss=charbonnier", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 2.363x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.76x"], "terms": {"loss/objectness": "its loss is replaced (Poly1CrossEntropy)", "loss/graspness": [0.1796, 0.07598, 2.363], "loss/view": [0.6445, 0.8476, 0.76], "loss/score": "its loss is replaced (GHMC)", "loss/width": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.152, "loss/graspness": -0.003, "loss/view": 0.057, "loss/score": 0.007, "loss/width": -0.095}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.4799, 0.4818, 0.4823, 0.4827], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__poly1+ghm-c+charbonnier@proposal.objectness_loss+head.score_loss+head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=poly1 --set head.score_loss=ghm-c --set head.width_loss=charbonnier -o loss__GSNet__poly1+ghm-c+charbonnier@proposal.objectness_loss+head.score_loss+head.width_loss.yaml", "config_hash": "4e3420cdf41b8fb7", "run": "2026-10-17@c43ea39", "seconds": 129.4},
  {"id": "loss/GSNet/ohem+ohem-smooth-l1+cauchy@proposal.objectness_loss+head.score_loss+head.width_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=ohem, head.score_loss=ohem-smooth-l1, head.width_loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (TopK)", "loss/graspness": [0.08551, 0.07598, 1.125], "loss/view": [0.8334, 0.8476, 0.983], "loss/score": "its loss is replaced (TopK)", "loss/width": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.004, "loss/graspness": -0.361, "loss/view": 0.251, "loss/score": 0.222, "loss/width": -0.081}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05182, 0.06402, 0.05445, 0.05606], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__ohem+ohem-smooth-l1+cauchy@proposal.objectness_loss+head.score_loss+head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=ohem --set head.score_loss=ohem-smooth-l1 --set head.width_loss=cauchy -o loss__GSNet__ohem+ohem-smooth-l1+cauchy@proposal.objectness_loss+head.score_loss+head.width_loss.yaml", "config_hash": "4bae1fed144179bd", "run": "2026-10-17@c43ea39", "seconds": 135.7},
  {"id": "loss/GSNet/class-balanced@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=class-balanced", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (ClassBalanced)", "loss/graspness": [0.07696, 0.07598, 1.013], "loss/view": [0.8329, 0.8476, 0.983], "loss/score": [0.03021, 0.0313, 0.965], "loss/width": [0.09892, 0.101, 0.979]}, "rise": {"loss/objectness": -0.21, "loss/graspness": -0.364, "loss/view": 0.199, "loss/score": 0.213, "loss/width": -0.079}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.061, 0.0618, 0.06061, 0.06576], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__class-balanced@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=class-balanced -o loss__GSNet__class-balanced@proposal.objectness_loss.yaml", "config_hash": "5262eba2b5cf70ea", "run": "2026-10-17@c43ea39", "seconds": 127.5},
  {"id": "loss/GSNet/dice@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=dice", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced ({\"average\": \"micro\", \"eps\": 1e-08, \"type\": \"DiceLoss\", \"weight\": 1.0})", "loss/graspness": [0.07501, 0.07598, 0.987], "loss/view": [0.839, 0.8476, 0.99], "loss/score": [0.02911, 0.0313, 0.93], "loss/width": [0.1011, 0.101, 1.0]}, "rise": {"loss/objectness": -0.321, "loss/graspness": -0.395, "loss/view": 0.258, "loss/score": 0.21, "loss/width": -0.071}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07046, 0.06948, 0.07476, 0.07962], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__dice@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=dice -o loss__GSNet__dice@proposal.objectness_loss.yaml", "config_hash": "10b454f0220d6ab2", "run": "2026-10-17@c43ea39", "seconds": 129.7},
  {"id": "loss/GSNet/lovasz-softmax@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=lovasz-softmax", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.273x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "its loss is replaced ({\"type\": \"LovaszSoftmaxLoss\", \"weight\": 1.0})", "loss/graspness": [0.09674, 0.07598, 1.273], "loss/view": [0.8073, 0.8476, 0.952], "loss/score": [0.02846, 0.0313, 0.909], "loss/width": [0.1017, 0.101, 1.006]}, "rise": {"loss/objectness": -0.368, "loss/graspness": -0.335, "loss/view": 0.308, "loss/score": 0.242, "loss/width": -0.108}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06755, 0.07444, 0.07139, 0.0699], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__lovasz-softmax@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=lovasz-softmax -o loss__GSNet__lovasz-softmax@proposal.objectness_loss.yaml", "config_hash": "36c17a38aab37915", "run": "2026-10-17@c43ea39", "seconds": 129.2},
  {"id": "loss/EconomicGrasp/dice+quality-focal+softmax-focal+label-smoothing+class-balanced+cauchy@proposal.objectness_loss+proposal.graspness_loss+head.angle_loss+head.depth_loss+head.score_loss+head.width_loss", "kind": "loss", "method": "EconomicGrasp", "option": "proposal.objectness_loss=dice, proposal.graspness_loss=quality-focal, head.angle_loss=softmax-focal, head.depth_loss=label-smoothing, head.score_loss=class-balanced, head.width_loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced ({\"average\": \"micro\", \"eps\": 1e-08, \"type\": \"DiceLoss\", \"weight\": 1.0})", "loss/graspness": "its loss is replaced (QualityFocal)", "loss/view": [0.8318, 0.8303, 1.002], "loss/angle": "its loss is replaced ({\"alpha\": null, \"gamma\": 2.0, \"type\": \"SoftmaxFocalLoss\", \"weight\": 1.0})", "loss/depth": "its loss is replaced (LabelSmoothingCrossEntropy)", "loss/score": "its loss is replaced (ClassBalanced)", "loss/width": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.24, "loss/graspness": -0.347, "loss/view": 0.057, "loss/angle": 0.037, "loss/depth": 0.033, "loss/score": -0.006, "loss/width": -0.08}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7395, -0.8233, -0.5962, -0.6259], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__dice+quality-focal+softmax-focal+label-smoothing+class-balanced+cauchy@proposal.objectness_loss+proposal.graspness_loss+head.angle_loss+head.depth_loss+head.score_loss+head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set proposal.objectness_loss=dice --set proposal.graspness_loss=quality-focal --set head.angle_loss=softmax-focal --set head.depth_loss=label-smoothing --set head.score_loss=class-balanced --set head.width_loss=cauchy -o loss__EconomicGrasp__dice+quality-focal+softmax-focal+label-smoothing+class-balanced+cauchy@proposal.objectness_loss+proposal.graspness_loss+head.angle_loss+head.depth_loss+head.score_loss+head.width_loss.yaml", "config_hash": "e32cf8a582f3f388", "run": "2026-10-17@c43ea39", "seconds": 149.1},
  {"id": "loss/FineGrasp/lovasz-softmax+bce+varifocal+poly1+ohem+focal@proposal.objectness_loss+proposal.graspness_loss+view.loss+head.angle_loss+head.depth_loss+head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "proposal.objectness_loss=lovasz-softmax, proposal.graspness_loss=bce, view.loss=varifocal, head.angle_loss=poly1, head.depth_loss=ohem, head.score_loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced ({\"type\": \"LovaszSoftmaxLoss\", \"weight\": 1.0})", "loss/graspness": "its loss is replaced (BinaryCrossEntropy)", "loss/view": "its loss is replaced (Varifocal)", "loss/angle": "its loss is replaced (Poly1CrossEntropy)", "loss/depth": "its loss is replaced (TopK)", "loss/score": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 1.0})", "loss/width": [0.3537, 0.3151, 1.123]}, "rise": {"loss/objectness": -0.14, "loss/graspness": -0.021, "loss/view": -0.07, "loss/angle": -0.094, "loss/depth": -0.074, "loss/score": -0.092, "loss/width": -0.21}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-5.162, -4.566, -5.371, -5.487], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__lovasz-softmax+bce+varifocal+poly1+ohem+focal@proposal.objectness_loss+proposal.graspness_loss+view.loss+head.angle_loss+head.depth_loss+head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set proposal.objectness_loss=lovasz-softmax --set proposal.graspness_loss=bce --set view.loss=varifocal --set head.angle_loss=poly1 --set head.depth_loss=ohem --set head.score_loss=focal -o loss__FineGrasp__lovasz-softmax+bce+varifocal+poly1+ohem+focal@proposal.objectness_loss+proposal.graspness_loss+view.loss+head.angle_loss+head.depth_loss+head.score_loss.yaml", "config_hash": "1c59ae7d0b67dbdd", "run": "2026-10-17@c43ea39", "seconds": 510.5},
  {"id": "loss/GraspNet-baseline/ohem-smooth-l1+ghm-r+ghm-c+balanced-l1+charbonnier@view.view_loss+head.score_loss+head.angle_loss+head.width_loss+head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "view.view_loss=ohem-smooth-l1, head.score_loss=ghm-r, head.angle_loss=ghm-c, head.width_loss=balanced-l1, head.tolerance_loss=charbonnier", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3701, 0.3739, 0.99], "loss/view": "its loss is replaced (TopK)", "loss/score": "its loss is replaced (GHMR)", "loss/angle": "its loss is replaced (GHMC)", "loss/width": "its loss is replaced (BalancedL1)", "loss/tolerance": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 0.2})"}, "rise": {"loss/objectness": -0.088, "loss/view": -0.024, "loss/score": -0.037, "loss/angle": -0.007, "loss/width": -0.164, "loss/tolerance": -0.299}, "grasps_per_frame": [401, 396, 512, 452], "no_gradient": [], "unchanged": [], "score_median": [0.0913, 0.08324, 0.1003, 0.0608], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__ohem-smooth-l1+ghm-r+ghm-c+balanced-l1+charbonnier@view.view_loss+head.score_loss+head.angle_loss+head.width_loss+head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view.view_loss=ohem-smooth-l1 --set head.score_loss=ghm-r --set head.angle_loss=ghm-c --set head.width_loss=balanced-l1 --set head.tolerance_loss=charbonnier -o loss__GraspNet-baseline__ohem-smooth-l1+ghm-r+ghm-c+balanced-l1+charbonnier@view.view_loss+head.score_loss+head.angle_loss+head.width_loss+head.tolerance_loss.yaml", "config_hash": "4348d66eeed8bf25", "run": "2026-10-17@c43ea39", "seconds": 88.9},
  {"id": "loss/Scale-Balanced-Grasp/huber+class-balanced@view.view_loss+head.angle_loss+head.width_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "view.view_loss=huber, head.angle_loss=class-balanced, head.width_loss=huber", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1918, 0.1975, 0.971], "loss/view": "its loss is replaced (Huber)", "loss/score": [0.01348, 0.01418, 0.95], "loss/angle": "its loss is replaced (ClassBalanced)", "loss/width": "its loss is replaced (Huber)", "loss/tolerance": [0.00795, 0.007067, 1.125]}, "rise": {"loss/objectness": -0.099, "loss/view": -0.013, "loss/score": -0.067, "loss/angle": -0.094, "loss/width": 0.086, "loss/tolerance": -0.29}, "grasps_per_frame": [106, 70, 88, 61], "no_gradient": [], "unchanged": [], "score_median": [0.02193, 0.02658, 0.03939, 0.01392], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__huber+class-balanced@view.view_loss+head.angle_loss+head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set view.view_loss=huber --set head.angle_loss=class-balanced --set head.width_loss=huber -o loss__Scale-Balanced-Grasp__huber+class-balanced@view.view_loss+head.angle_loss+head.width_loss.yaml", "config_hash": "423a456fc56d5c32", "run": "2026-10-17@c43ea39", "seconds": 117.0},
  {"id": "loss/GSNet/uncertainty-weighting@proposal.objectness_loss+proposal.graspness_loss+view.loss+head.score_loss+head.width_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=uncertainty-weighting, proposal.graspness_loss=uncertainty-weighting, view.loss=uncertainty-weighting, head.score_loss=uncertainty-weighting, head.width_loss=uncertainty-weighting", "level1": "runs", "outcome": "diverging", "reasons": ["loss/view rises +43 % over the last half; the reference +21 %"], "terms": {"loss/objectness": "its loss is replaced (UncertaintyWeighted)", "loss/graspness": "its loss is replaced (UncertaintyWeighted)", "loss/view": "its loss is replaced (UncertaintyWeighted)", "loss/score": "its loss is replaced (UncertaintyWeighted)", "loss/width": "its loss is replaced (UncertaintyWeighted)"}, "rise": {"loss/view": 0.433}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05786, 0.06883, 0.06704, 0.06907], "checked": [17, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__uncertainty-weighting@proposal.objectness_loss+proposal.graspness_loss+view.loss+head.score_loss+head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=uncertainty-weighting --set proposal.graspness_loss=uncertainty-weighting --set view.loss=uncertainty-weighting --set head.score_loss=uncertainty-weighting --set head.width_loss=uncertainty-weighting -o loss__GSNet__uncertainty-weighting@proposal.objectness_loss+proposal.graspness_loss+view.loss+head.score_loss+head.width_loss.yaml", "config_hash": "5fbe55138013572c", "run": "2026-10-17@c43ea39", "seconds": 128.4},
  {"id": "loss/GraspNet-baseline/uncertainty-weighting@view.objectness_loss+view.view_loss+head.score_loss+head.angle_loss+head.width_loss+head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "view.objectness_loss=uncertainty-weighting, view.view_loss=uncertainty-weighting, head.score_loss=uncertainty-weighting, head.angle_loss=uncertainty-weighting, head.width_loss=uncertainty-weighting, head.tolerance_loss=uncertainty-weighting", "level1": "runs", "outcome": "not comparable", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (UncertaintyWeighted)", "loss/view": "its loss is replaced (UncertaintyWeighted)", "loss/score": "its loss is replaced (UncertaintyWeighted)", "loss/angle": "its loss is replaced (UncertaintyWeighted)", "loss/width": "its loss is replaced (UncertaintyWeighted)", "loss/tolerance": "its loss is replaced (UncertaintyWeighted)"}, "rise": {"loss/objectness": -0.653}, "grasps_per_frame": [472, 223, 500, 417], "no_gradient": [], "unchanged": [], "score_median": [0.1185, 0.0754, 0.145, 0.1283], "checked": [20, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__uncertainty-weighting@view.objectness_loss+view.view_loss+head.score_loss+head.angle_loss+head.width_loss+head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set view.objectness_loss=uncertainty-weighting --set view.view_loss=uncertainty-weighting --set head.score_loss=uncertainty-weighting --set head.angle_loss=uncertainty-weighting --set head.width_loss=uncertainty-weighting --set head.tolerance_loss=uncertainty-weighting -o loss__GraspNet-baseline__uncertainty-weighting@view.objectness_loss+view.view_loss+head.score_loss+head.angle_loss+head.width_loss+head.tolerance_loss.yaml", "config_hash": "25e40f3557973fd3", "run": "2026-10-17@c43ea39", "seconds": 89.1},
  {"id": "loss/GSNet/balanced-l1@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=balanced-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.169, 0.1562, 1.082], "loss/graspness": [0.0871, 0.07598, 1.146], "loss/view": [0.8061, 0.8476, 0.951], "loss/score": "its loss is replaced (BalancedL1)", "loss/width": [0.1026, 0.101, 1.016]}, "rise": {"loss/objectness": -0.266, "loss/graspness": -0.361, "loss/view": 0.233, "loss/score": 0.291, "loss/width": -0.059}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03197, 0.0344, 0.03002, 0.03448], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__balanced-l1@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=balanced-l1 -o loss__GSNet__balanced-l1@head.score_loss.yaml", "config_hash": "9a15a071554390a1", "run": "2026-10-17@c43ea39", "seconds": 129.5},
  {"id": "loss/GSNet/balanced-l1@head.width_loss", "kind": "loss", "method": "GSNet", "option": "head.width_loss=balanced-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1643, 0.1562, 1.052], "loss/graspness": [0.08879, 0.07598, 1.169], "loss/view": [0.768, 0.8476, 0.906], "loss/score": [0.02869, 0.0313, 0.917], "loss/width": "its loss is replaced (BalancedL1)"}, "rise": {"loss/objectness": -0.224, "loss/graspness": -0.375, "loss/view": 0.233, "loss/score": 0.105, "loss/width": -0.051}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06174, 0.07003, 0.0749, 0.07965], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__balanced-l1@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.width_loss=balanced-l1 -o loss__GSNet__balanced-l1@head.width_loss.yaml", "config_hash": "269d76a3fce2a315", "run": "2026-10-17@c43ea39", "seconds": 131.7},
  {"id": "loss/EconomicGrasp/balanced-l1@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=balanced-l1", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.588x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1338, 0.1259, 1.063], "loss/graspness": [0.1006, 0.06338, 1.588], "loss/view": "its loss is replaced (BalancedL1)", "loss/angle": [1.58, 1.543, 1.024], "loss/depth": [0.7873, 0.7779, 1.012], "loss/score": [1.336, 1.31, 1.02], "loss/width": [0.5381, 0.5737, 0.938]}, "rise": {"loss/objectness": -0.189, "loss/graspness": -0.252, "loss/view": 0.064, "loss/angle": -0.02, "loss/depth": -0.02, "loss/score": -0.014, "loss/width": -0.114}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.691, -1.56, -1.614, -1.034], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__balanced-l1@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=balanced-l1 -o loss__EconomicGrasp__balanced-l1@view.loss.yaml", "config_hash": "ae65751d137bedca", "run": "2026-10-17@c43ea39", "seconds": 137.5},
  {"id": "loss/EconomicGrasp/balanced-l1@head.width_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.width_loss=balanced-l1", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.714x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1486, 0.1259, 1.181], "loss/graspness": [0.1086, 0.06338, 1.714], "loss/view": [0.7971, 0.8303, 0.96], "loss/angle": [1.419, 1.543, 0.919], "loss/depth": [0.7112, 0.7779, 0.914], "loss/score": [1.211, 1.31, 0.925], "loss/width": "its loss is replaced (BalancedL1)"}, "rise": {"loss/objectness": -0.261, "loss/graspness": -0.258, "loss/view": 0.035, "loss/angle": 0.016, "loss/depth": -0.001, "loss/score": 0.031, "loss/width": -0.085}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.446, -2.214, -2.27, -1.886], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__balanced-l1@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.width_loss=balanced-l1 -o loss__EconomicGrasp__balanced-l1@head.width_loss.yaml", "config_hash": "9e8fae19d1265d4f", "run": "2026-10-17@c43ea39", "seconds": 141.7},
  {"id": "loss/FineGrasp/balanced-l1@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=balanced-l1", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.411x the reference (tolerance 1.25)", "loss/graspness 1.616x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1268, 0.08986, 1.411], "loss/graspness": [0.07629, 0.04722, 1.616], "loss/view": "its loss is replaced (BalancedL1)", "loss/angle": [1.04, 0.9369, 1.11], "loss/depth": [0.5024, 0.4363, 1.151], "loss/score": [0.8995, 0.8125, 1.107], "loss/width": [0.3559, 0.3151, 1.129]}, "rise": {"loss/objectness": -0.429, "loss/graspness": -0.398, "loss/view": -0.002, "loss/angle": -0.11, "loss/depth": -0.096, "loss/score": -0.086, "loss/width": -0.236}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.516, -1.104, -1.547, -0.8436], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__balanced-l1@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=balanced-l1 -o loss__FineGrasp__balanced-l1@view.loss.yaml", "config_hash": "eda7d38449a025be", "run": "2026-10-17@c43ea39", "seconds": 507.8},
  {"id": "loss/FineGrasp/balanced-l1@head.width_loss", "kind": "loss", "method": "FineGrasp", "option": "head.width_loss=balanced-l1", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.307x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1091, 0.08986, 1.214], "loss/graspness": [0.06173, 0.04722, 1.307], "loss/view": [0.7729, 0.7334, 1.054], "loss/angle": [1.085, 0.9369, 1.158], "loss/depth": [0.4971, 0.4363, 1.139], "loss/score": [0.9442, 0.8125, 1.162], "loss/width": "its loss is replaced (BalancedL1)"}, "rise": {"loss/objectness": -0.172, "loss/graspness": -0.345, "loss/view": 0.002, "loss/angle": -0.016, "loss/depth": 0.007, "loss/score": 0.031, "loss/width": -0.15}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.505, -0.4155, -1.205, -0.6602], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__balanced-l1@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.width_loss=balanced-l1 -o loss__FineGrasp__balanced-l1@head.width_loss.yaml", "config_hash": "0efac557744b3a10", "run": "2026-10-17@c43ea39", "seconds": 506.7},
  {"id": "loss/GraspNet-baseline/balanced-l1@head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.tolerance_loss=balanced-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.369, 0.3739, 0.987], "loss/view": [0.02964, 0.02976, 0.996], "loss/score": [0.02288, 0.02246, 1.018], "loss/angle": [0.3256, 0.3337, 0.976], "loss/width": [0.01179, 0.01289, 0.915], "loss/tolerance": "its loss is replaced (BalancedL1)"}, "rise": {"loss/objectness": -0.085, "loss/view": -0.038, "loss/score": -0.02, "loss/angle": -0.057, "loss/width": -0.253, "loss/tolerance": -0.287}, "grasps_per_frame": [437, 287, 491, 529], "no_gradient": [], "unchanged": [], "score_median": [0.1558, 0.1327, 0.1413, 0.1349], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__balanced-l1@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.tolerance_loss=balanced-l1 -o loss__GraspNet-baseline__balanced-l1@head.tolerance_loss.yaml", "config_hash": "35f28c55b32b6eb3", "run": "2026-10-17@c43ea39", "seconds": 82.2},
  {"id": "loss/Scale-Balanced-Grasp/balanced-l1@head.tolerance_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.tolerance_loss=balanced-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1898, 0.1975, 0.961], "loss/view": [0.08265, 0.08244, 1.003], "loss/score": [0.01333, 0.01418, 0.94], "loss/angle": [0.3232, 0.3132, 1.032], "loss/width": [0.01008, 0.01146, 0.88], "loss/tolerance": "its loss is replaced (BalancedL1)"}, "rise": {"loss/objectness": -0.115, "loss/view": -0.013, "loss/score": -0.032, "loss/angle": -0.065, "loss/width": -0.235, "loss/tolerance": -0.371}, "grasps_per_frame": [320, 244, 300, 189], "no_gradient": [], "unchanged": [], "score_median": [0.02632, 0.03578, 0.04875, 0.04813], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__balanced-l1@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.tolerance_loss=balanced-l1 -o loss__Scale-Balanced-Grasp__balanced-l1@head.tolerance_loss.yaml", "config_hash": "cd14472cedc9d34c", "run": "2026-10-17@c43ea39", "seconds": 113.9},
  {"id": "loss/GSNet/bce@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=bce", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1627, 0.1562, 1.042], "loss/graspness": [0.07772, 0.07598, 1.023], "loss/view": [0.8258, 0.8476, 0.974], "loss/score": "its loss is replaced (BinaryCrossEntropy)", "loss/width": [0.1159, 0.101, 1.147]}, "rise": {"loss/objectness": -0.208, "loss/graspness": -0.302, "loss/view": 0.128, "loss/score": 0.286, "loss/width": -0.11}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.01959, 0.01815, 0.02235, 0.0272], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__bce@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=bce -o loss__GSNet__bce@head.score_loss.yaml", "config_hash": "71ce8917aa5e7858", "run": "2026-10-17@c43ea39", "seconds": 130.8},
  {"id": "loss/EconomicGrasp/bce@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=bce", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.77x, loss/depth 0.79x, loss/score 0.78x"], "terms": {"loss/objectness": [0.1346, 0.1259, 1.069], "loss/graspness": [0.06198, 0.06338, 0.978], "loss/view": "its loss is replaced (BinaryCrossEntropy)", "loss/angle": [1.192, 1.543, 0.772], "loss/depth": [0.6122, 0.7779, 0.787], "loss/score": [1.026, 1.31, 0.783], "loss/width": [0.7044, 0.5737, 1.228]}, "rise": {"loss/objectness": -0.203, "loss/graspness": -0.16, "loss/view": -0.056, "loss/angle": 0.007, "loss/depth": -0.022, "loss/score": 0.022, "loss/width": -0.028}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.128, -2.121, -2.118, -1.99], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__bce@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=bce -o loss__EconomicGrasp__bce@view.loss.yaml", "config_hash": "f0ca114092f46e02", "run": "2026-10-17@c43ea39", "seconds": 141.9},
  {"id": "loss/FineGrasp/bce@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=bce", "level1": "runs", "outcome": "diverging", "reasons": ["loss/graspness rises +24 % over the last half; the reference -28 %", "loss/graspness 3.407x the reference (tolerance 1.25)", "loss/depth 1.352x the reference (tolerance 1.25)", "loss/width 2.138x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1093, 0.08986, 1.216], "loss/graspness": [0.1609, 0.04722, 3.407], "loss/view": "its loss is replaced (BinaryCrossEntropy)", "loss/angle": [1.147, 0.9369, 1.224], "loss/depth": [0.5897, 0.4363, 1.352], "loss/score": [0.9758, 0.8125, 1.201], "loss/width": [0.6737, 0.3151, 2.138]}, "rise": {"loss/objectness": -0.266, "loss/graspness": 0.241, "loss/view": -0.033, "loss/angle": 0.027, "loss/depth": 0.023, "loss/score": 0.019, "loss/width": -0.06}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.396, -1.396, -1.386, -1.531], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__bce@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=bce -o loss__FineGrasp__bce@view.loss.yaml", "config_hash": "83ca094971a6db95", "run": "2026-10-17@c43ea39", "seconds": 505.6},
  {"id": "loss/GSNet/cauchy@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1563, 0.1562, 1.001], "loss/graspness": [0.07709, 0.07598, 1.015], "loss/view": [0.8307, 0.8476, 0.98], "loss/score": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 15.0})", "loss/width": [0.1002, 0.101, 0.991]}, "rise": {"loss/objectness": -0.206, "loss/graspness": -0.348, "loss/view": 0.18, "loss/score": 0.152, "loss/width": -0.078}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06996, 0.06706, 0.06386, 0.06796], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__cauchy@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=cauchy -o loss__GSNet__cauchy@head.score_loss.yaml", "config_hash": "f26958404b363818", "run": "2026-10-17@c43ea39", "seconds": 128.2},
  {"id": "loss/GSNet/cauchy@head.width_loss", "kind": "loss", "method": "GSNet", "option": "head.width_loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1595, 0.1562, 1.021], "loss/graspness": [0.08277, 0.07598, 1.089], "loss/view": [0.8369, 0.8476, 0.987], "loss/score": [0.02932, 0.0313, 0.937], "loss/width": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.214, "loss/graspness": -0.347, "loss/view": 0.221, "loss/score": 0.188, "loss/width": -0.078}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06597, 0.07336, 0.06968, 0.06693], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__cauchy@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.width_loss=cauchy -o loss__GSNet__cauchy@head.width_loss.yaml", "config_hash": "39c21cb0498fafed", "run": "2026-10-17@c43ea39", "seconds": 129.1},
  {"id": "loss/EconomicGrasp/cauchy@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1316, 0.1259, 1.045], "loss/graspness": [0.07565, 0.06338, 1.194], "loss/view": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 100.0})", "loss/angle": [1.549, 1.543, 1.004], "loss/depth": [0.7755, 0.7779, 0.997], "loss/score": [1.304, 1.31, 0.996], "loss/width": [0.5716, 0.5737, 0.996]}, "rise": {"loss/objectness": -0.12, "loss/graspness": -0.323, "loss/view": 0.044, "loss/angle": 0.028, "loss/depth": 0.007, "loss/score": 0.022, "loss/width": -0.141}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.295, -1.994, -1.947, -1.544], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__cauchy@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=cauchy -o loss__EconomicGrasp__cauchy@view.loss.yaml", "config_hash": "1ec3cffeed513f12", "run": "2026-10-17@c43ea39", "seconds": 134.3},
  {"id": "loss/EconomicGrasp/cauchy@head.width_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.width_loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1274, 0.1259, 1.012], "loss/graspness": [0.06143, 0.06338, 0.969], "loss/view": [0.8508, 0.8303, 1.025], "loss/angle": [1.471, 1.543, 0.953], "loss/depth": [0.7374, 0.7779, 0.948], "loss/score": [1.245, 1.31, 0.951], "loss/width": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.075, "loss/graspness": -0.324, "loss/view": 0.031, "loss/angle": -0.017, "loss/depth": -0.024, "loss/score": -0.013, "loss/width": -0.132}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.274, -1.019, -1.406, -0.565], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__cauchy@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.width_loss=cauchy -o loss__EconomicGrasp__cauchy@head.width_loss.yaml", "config_hash": "c8ceaf31f61f4b04", "run": "2026-10-17@c43ea39", "seconds": 139.0},
  {"id": "loss/FineGrasp/cauchy@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09098, 0.08986, 1.012], "loss/graspness": [0.04764, 0.04722, 1.009], "loss/view": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 100.0})", "loss/angle": [0.9704, 0.9369, 1.036], "loss/depth": [0.4534, 0.4363, 1.039], "loss/score": [0.8415, 0.8125, 1.036], "loss/width": [0.3234, 0.3151, 1.026]}, "rise": {"loss/objectness": -0.161, "loss/graspness": -0.292, "loss/view": 0.005, "loss/angle": -0.151, "loss/depth": -0.114, "loss/score": -0.115, "loss/width": -0.217}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.5995, -0.4433, -0.7093, -0.3793], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__cauchy@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=cauchy -o loss__FineGrasp__cauchy@view.loss.yaml", "config_hash": "ac19127ed92f3fa6", "run": "2026-10-17@c43ea39", "seconds": 507.8},
  {"id": "loss/FineGrasp/cauchy@head.width_loss", "kind": "loss", "method": "FineGrasp", "option": "head.width_loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08962, 0.08986, 0.997], "loss/graspness": [0.04551, 0.04722, 0.964], "loss/view": [0.758, 0.7334, 1.034], "loss/angle": [0.9238, 0.9369, 0.986], "loss/depth": [0.4306, 0.4363, 0.987], "loss/score": [0.8018, 0.8125, 0.987], "loss/width": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.119, "loss/graspness": -0.231, "loss/view": -0.015, "loss/angle": -0.166, "loss/depth": -0.132, "loss/score": -0.125, "loss/width": -0.2}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.579, -2.545, -2.245, -1.905], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__cauchy@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.width_loss=cauchy -o loss__FineGrasp__cauchy@head.width_loss.yaml", "config_hash": "316fa74d0caf26bc", "run": "2026-10-17@c43ea39", "seconds": 508.4},
  {"id": "loss/GraspNet-baseline/cauchy@head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.tolerance_loss=cauchy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3594, 0.3739, 0.961], "loss/view": [0.0297, 0.02976, 0.998], "loss/score": [0.02119, 0.02246, 0.943], "loss/angle": [0.3274, 0.3337, 0.981], "loss/width": [0.0137, 0.01289, 1.063], "loss/tolerance": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 0.2})"}, "rise": {"loss/objectness": -0.095, "loss/view": -0.034, "loss/score": -0.078, "loss/angle": -0.038, "loss/width": -0.108, "loss/tolerance": -0.319}, "grasps_per_frame": [469, 458, 463, 425], "no_gradient": [], "unchanged": [], "score_median": [0.1901, 0.08035, 0.1407, 0.09257], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__cauchy@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.tolerance_loss=cauchy -o loss__GraspNet-baseline__cauchy@head.tolerance_loss.yaml", "config_hash": "fe99b63877648b66", "run": "2026-10-17@c43ea39", "seconds": 86.1},
  {"id": "loss/Scale-Balanced-Grasp/cauchy@head.tolerance_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.tolerance_loss=cauchy", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1782, 0.1975, 0.902], "loss/view": [0.08213, 0.08244, 0.996], "loss/score": [0.01328, 0.01418, 0.936], "loss/angle": [0.3015, 0.3132, 0.963], "loss/width": [0.01007, 0.01146, 0.879], "loss/tolerance": "its loss is replaced ({\"kind\": \"cauchy\", \"type\": \"RobustLoss\", \"weight\": 0.2})"}, "rise": {"loss/objectness": -0.112, "loss/view": -0.026, "loss/score": -0.041, "loss/angle": -0.078, "loss/width": -0.334, "loss/tolerance": -0.207}, "grasps_per_frame": [125, 113, 95, 42], "no_gradient": [], "unchanged": [], "score_median": [0.04145, 0.04893, 0.02486, 0.06354], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__cauchy@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.tolerance_loss=cauchy -o loss__Scale-Balanced-Grasp__cauchy@head.tolerance_loss.yaml", "config_hash": "a974733e3a61a098", "run": "2026-10-17@c43ea39", "seconds": 132.3},
  {"id": "loss/GSNet/charbonnier@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=charbonnier", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1572, 0.1562, 1.007], "loss/graspness": [0.07976, 0.07598, 1.05], "loss/view": [0.8226, 0.8476, 0.97], "loss/score": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 15.0})", "loss/width": [0.09969, 0.101, 0.987]}, "rise": {"loss/objectness": -0.209, "loss/graspness": -0.371, "loss/view": 0.214, "loss/score": 0.222, "loss/width": -0.083}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06231, 0.06981, 0.06125, 0.06643], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__charbonnier@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=charbonnier -o loss__GSNet__charbonnier@head.score_loss.yaml", "config_hash": "389d7475df2b8070", "run": "2026-10-17@c43ea39", "seconds": 145.5},
  {"id": "loss/GSNet/charbonnier@head.width_loss", "kind": "loss", "method": "GSNet", "option": "head.width_loss=charbonnier", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1616, 0.1562, 1.035], "loss/graspness": [0.08358, 0.07598, 1.1], "loss/view": [0.8301, 0.8476, 0.979], "loss/score": [0.03084, 0.0313, 0.985], "loss/width": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.214, "loss/graspness": -0.38, "loss/view": 0.244, "loss/score": 0.27, "loss/width": -0.082}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06555, 0.06682, 0.06749, 0.06299], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__charbonnier@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.width_loss=charbonnier -o loss__GSNet__charbonnier@head.width_loss.yaml", "config_hash": "9fa0cc9a2b06cc8d", "run": "2026-10-17@c43ea39", "seconds": 137.3},
  {"id": "loss/EconomicGrasp/charbonnier@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=charbonnier", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1321, 0.1259, 1.049], "loss/graspness": [0.07507, 0.06338, 1.184], "loss/view": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 100.0})", "loss/angle": [1.583, 1.543, 1.026], "loss/depth": [0.7998, 0.7779, 1.028], "loss/score": [1.333, 1.31, 1.018], "loss/width": [0.553, 0.5737, 0.964]}, "rise": {"loss/objectness": -0.125, "loss/graspness": -0.368, "loss/view": 0.045, "loss/angle": 0.042, "loss/depth": 0.037, "loss/score": 0.036, "loss/width": -0.153}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.634, -1.214, -1.223, -0.5394], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__charbonnier@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=charbonnier -o loss__EconomicGrasp__charbonnier@view.loss.yaml", "config_hash": "380223eeccfa8070", "run": "2026-10-17@c43ea39", "seconds": 158.7},
  {"id": "loss/EconomicGrasp/charbonnier@head.width_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.width_loss=charbonnier", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.126, 0.1259, 1.001], "loss/graspness": [0.06338, 0.06338, 1.0], "loss/view": [0.8411, 0.8303, 1.013], "loss/angle": [1.476, 1.543, 0.957], "loss/depth": [0.7412, 0.7779, 0.953], "loss/score": [1.255, 1.31, 0.959], "loss/width": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.108, "loss/graspness": -0.34, "loss/view": 0.024, "loss/angle": 0.019, "loss/depth": 0.015, "loss/score": 0.016, "loss/width": -0.124}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.792, -1.68, -1.577, -0.6809], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__charbonnier@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.width_loss=charbonnier -o loss__EconomicGrasp__charbonnier@head.width_loss.yaml", "config_hash": "abd2b92a04cfc13c", "run": "2026-10-17@c43ea39", "seconds": 143.4},
  {"id": "loss/FineGrasp/charbonnier@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=charbonnier", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08741, 0.08986, 0.973], "loss/graspness": [0.04287, 0.04722, 0.908], "loss/view": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 100.0})", "loss/angle": [0.9216, 0.9369, 0.984], "loss/depth": [0.4405, 0.4363, 1.009], "loss/score": [0.8151, 0.8125, 1.003], "loss/width": [0.3102, 0.3151, 0.984]}, "rise": {"loss/objectness": -0.182, "loss/graspness": -0.298, "loss/view": -0.009, "loss/angle": -0.171, "loss/depth": -0.127, "loss/score": -0.122, "loss/width": -0.213}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.4, -0.8004, -1.548, -1.306], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__charbonnier@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=charbonnier -o loss__FineGrasp__charbonnier@view.loss.yaml", "config_hash": "1980cf01cc886610", "run": "2026-10-17@c43ea39", "seconds": 504.6},
  {"id": "loss/FineGrasp/charbonnier@head.width_loss", "kind": "loss", "method": "FineGrasp", "option": "head.width_loss=charbonnier", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09123, 0.08986, 1.015], "loss/graspness": [0.04469, 0.04722, 0.946], "loss/view": [0.7458, 0.7334, 1.017], "loss/angle": [0.9168, 0.9369, 0.979], "loss/depth": [0.4301, 0.4363, 0.986], "loss/score": [0.7961, 0.8125, 0.98], "loss/width": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 10.0})"}, "rise": {"loss/objectness": -0.13, "loss/graspness": -0.24, "loss/view": -0.02, "loss/angle": -0.171, "loss/depth": -0.133, "loss/score": -0.127, "loss/width": -0.226}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.589, -1.709, -2.266, -2.711], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__charbonnier@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.width_loss=charbonnier -o loss__FineGrasp__charbonnier@head.width_loss.yaml", "config_hash": "de008f7403dd8d24", "run": "2026-10-17@c43ea39", "seconds": 501.7},
  {"id": "loss/GraspNet-baseline/charbonnier@head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.tolerance_loss=charbonnier", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3686, 0.3739, 0.986], "loss/view": [0.02961, 0.02976, 0.995], "loss/score": [0.02208, 0.02246, 0.983], "loss/angle": [0.3255, 0.3337, 0.975], "loss/width": [0.01259, 0.01289, 0.977], "loss/tolerance": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 0.2})"}, "rise": {"loss/objectness": -0.078, "loss/view": -0.036, "loss/score": -0.061, "loss/angle": -0.051, "loss/width": -0.118, "loss/tolerance": -0.318}, "grasps_per_frame": [473, 408, 514, 545], "no_gradient": [], "unchanged": [], "score_median": [0.1192, 0.07972, 0.1164, 0.1025], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__charbonnier@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.tolerance_loss=charbonnier -o loss__GraspNet-baseline__charbonnier@head.tolerance_loss.yaml", "config_hash": "b1037cd54b751297", "run": "2026-10-17@c43ea39", "seconds": 86.2},
  {"id": "loss/Scale-Balanced-Grasp/charbonnier@head.tolerance_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.tolerance_loss=charbonnier", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.189, 0.1975, 0.957], "loss/view": [0.08237, 0.08244, 0.999], "loss/score": [0.01314, 0.01418, 0.926], "loss/angle": [0.3144, 0.3132, 1.004], "loss/width": [0.009605, 0.01146, 0.838], "loss/tolerance": "its loss is replaced ({\"kind\": \"charbonnier\", \"type\": \"RobustLoss\", \"weight\": 0.2})"}, "rise": {"loss/objectness": -0.09, "loss/view": -0.018, "loss/score": -0.039, "loss/angle": -0.061, "loss/width": -0.252, "loss/tolerance": -0.307}, "grasps_per_frame": [27, 15, 24, 12], "no_gradient": [], "unchanged": [], "score_median": [0.07658, -0.002583, 0.1042, 0.04186], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__charbonnier@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.tolerance_loss=charbonnier -o loss__Scale-Balanced-Grasp__charbonnier@head.tolerance_loss.yaml", "config_hash": "3f9c741cec5595a7", "run": "2026-10-17@c43ea39", "seconds": 126.5},
  {"id": "loss/EconomicGrasp/class-balanced@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=class-balanced", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1277, 0.1259, 1.015], "loss/graspness": [0.06558, 0.06338, 1.035], "loss/view": [0.8313, 0.8303, 1.001], "loss/angle": [1.477, 1.543, 0.957], "loss/depth": [0.7391, 0.7779, 0.95], "loss/score": "its loss is replaced (ClassBalanced)", "loss/width": [0.5949, 0.5737, 1.037]}, "rise": {"loss/objectness": -0.137, "loss/graspness": -0.382, "loss/view": 0.034, "loss/angle": -0.01, "loss/depth": -0.018, "loss/score": -0.037, "loss/width": -0.097}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.131, -1.528, -1.757, -2.053], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__class-balanced@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=class-balanced -o loss__EconomicGrasp__class-balanced@head.score_loss.yaml", "config_hash": "ce2c7dce1db5842b", "run": "2026-10-17@c43ea39", "seconds": 148.4},
  {"id": "loss/FineGrasp/class-balanced@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=class-balanced", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09295, 0.08986, 1.034], "loss/graspness": [0.05188, 0.04722, 1.099], "loss/view": [0.7735, 0.7334, 1.055], "loss/angle": [0.9732, 0.9369, 1.039], "loss/depth": [0.4437, 0.4363, 1.017], "loss/score": "its loss is replaced (ClassBalanced)", "loss/width": [0.3251, 0.3151, 1.032]}, "rise": {"loss/objectness": -0.17, "loss/graspness": -0.262, "loss/view": 0.008, "loss/angle": -0.155, "loss/depth": -0.154, "loss/score": -0.161, "loss/width": -0.262}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.422, -1.15, -1.423, -1.393], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__class-balanced@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=class-balanced -o loss__FineGrasp__class-balanced@head.score_loss.yaml", "config_hash": "4b934426c254e806", "run": "2026-10-17@c43ea39", "seconds": 506.6},
  {"id": "loss/GraspNet-baseline/class-balanced@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=class-balanced", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3659, 0.3739, 0.979], "loss/view": [0.02964, 0.02976, 0.996], "loss/score": [0.02195, 0.02246, 0.977], "loss/angle": "its loss is replaced (ClassBalanced)", "loss/width": [0.01331, 0.01289, 1.032], "loss/tolerance": [0.0216, 0.02008, 1.076]}, "rise": {"loss/objectness": -0.108, "loss/view": -0.029, "loss/score": -0.038, "loss/angle": -0.065, "loss/width": -0.175, "loss/tolerance": -0.296}, "grasps_per_frame": [431, 405, 441, 444], "no_gradient": [], "unchanged": [], "score_median": [0.1312, 0.1025, 0.1012, 0.1098], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__class-balanced@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=class-balanced -o loss__GraspNet-baseline__class-balanced@head.angle_loss.yaml", "config_hash": "43e6800cf7f0d758", "run": "2026-10-17@c43ea39", "seconds": 99.5},
  {"id": "loss/Scale-Balanced-Grasp/class-balanced@head.angle_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.angle_loss=class-balanced", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1918, 0.1975, 0.971], "loss/view": [0.08256, 0.08244, 1.001], "loss/score": [0.01305, 0.01418, 0.92], "loss/angle": "its loss is replaced (ClassBalanced)", "loss/width": [0.01229, 0.01146, 1.073], "loss/tolerance": [0.007849, 0.007067, 1.111]}, "rise": {"loss/objectness": -0.086, "loss/view": -0.015, "loss/score": -0.061, "loss/angle": -0.088, "loss/width": -0.015, "loss/tolerance": -0.253}, "grasps_per_frame": [102, 49, 98, 66], "no_gradient": [], "unchanged": [], "score_median": [0.07384, 0.04946, 0.04967, 0.05599], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__class-balanced@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.angle_loss=class-balanced -o loss__Scale-Balanced-Grasp__class-balanced@head.angle_loss.yaml", "config_hash": "3d6ecb770ab1e0cf", "run": "2026-10-17@c43ea39", "seconds": 122.6},
  {"id": "loss/EconomicGrasp/dice@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=dice", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1217, 0.1259, 0.967], "loss/graspness": [0.0572, 0.06338, 0.902], "loss/view": [0.8362, 0.8303, 1.007], "loss/angle": [1.558, 1.543, 1.009], "loss/depth": [0.8114, 0.7779, 1.043], "loss/score": "its loss is replaced ({\"average\": \"micro\", \"eps\": 1e-08, \"type\": \"DiceLoss\", \"weight\": 1.0})", "loss/width": [0.5874, 0.5737, 1.024]}, "rise": {"loss/objectness": -0.166, "loss/graspness": -0.442, "loss/view": 0.044, "loss/angle": 0.046, "loss/depth": 0.056, "loss/score": 0.178, "loss/width": -0.113}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-9.156, -9.167, -9.136, -9.117], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__dice@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=dice -o loss__EconomicGrasp__dice@head.score_loss.yaml", "config_hash": "7efbb472276d10c3", "run": "2026-10-17@c43ea39", "seconds": 145.0},
  {"id": "loss/FineGrasp/dice@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=dice", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.07978, 0.08986, 0.888], "loss/graspness": [0.0409, 0.04722, 0.866], "loss/view": [0.7253, 0.7334, 0.989], "loss/angle": [0.8947, 0.9369, 0.955], "loss/depth": [0.4277, 0.4363, 0.98], "loss/score": "its loss is replaced ({\"average\": \"micro\", \"eps\": 1e-08, \"type\": \"DiceLoss\", \"weight\": 1.0})", "loss/width": [0.2922, 0.3151, 0.927]}, "rise": {"loss/objectness": -0.128, "loss/graspness": -0.239, "loss/view": -0.038, "loss/angle": -0.188, "loss/depth": -0.148, "loss/score": -0.125, "loss/width": -0.226}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-8.919, -8.08, -8.773, -8.812], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__dice@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=dice -o loss__FineGrasp__dice@head.score_loss.yaml", "config_hash": "e33d368bf93fdcac", "run": "2026-10-17@c43ea39", "seconds": 506.6},
  {"id": "loss/GraspNet-baseline/dice@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=dice", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.63x"], "terms": {"loss/objectness": [0.3619, 0.3739, 0.968], "loss/view": [0.03008, 0.02976, 1.011], "loss/score": [0.02212, 0.02246, 0.985], "loss/angle": "its loss is replaced ({\"average\": \"micro\", \"eps\": 1e-08, \"type\": \"DiceLoss\", \"weight\": 0.2})", "loss/width": [0.008082, 0.01289, 0.627], "loss/tolerance": [0.02135, 0.02008, 1.063]}, "rise": {"loss/objectness": -0.109, "loss/view": -0.043, "loss/score": -0.031, "loss/angle": -0.0, "loss/width": -0.292, "loss/tolerance": -0.284}, "grasps_per_frame": [429, 449, 467, 493], "no_gradient": [], "unchanged": [], "score_median": [0.2355, 0.2086, 0.2688, 0.1936], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__dice@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=dice -o loss__GraspNet-baseline__dice@head.angle_loss.yaml", "config_hash": "b1fc88288b820cfe", "run": "2026-10-17@c43ea39", "seconds": 83.3},
  {"id": "loss/GSNet/focal@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 1.0})", "loss/graspness": [0.09091, 0.07598, 1.197], "loss/view": [0.8095, 0.8476, 0.955], "loss/score": [0.02967, 0.0313, 0.948], "loss/width": [0.1028, 0.101, 1.017]}, "rise": {"loss/objectness": -0.16, "loss/graspness": -0.354, "loss/view": 0.285, "loss/score": 0.245, "loss/width": -0.099}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06498, 0.06839, 0.07002, 0.07059], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__focal@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=focal -o loss__GSNet__focal@proposal.objectness_loss.yaml", "config_hash": "982ffce33a81f940", "run": "2026-10-17@c43ea39", "seconds": 138.9},
  {"id": "loss/GSNet/focal@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1542, 0.1562, 0.987], "loss/graspness": [0.07381, 0.07598, 0.971], "loss/view": [0.8496, 0.8476, 1.002], "loss/score": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 15.0})", "loss/width": [0.1063, 0.101, 1.052]}, "rise": {"loss/objectness": -0.227, "loss/graspness": -0.396, "loss/view": 0.242, "loss/score": 0.351, "loss/width": -0.093}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1259, 0.1216, 0.1259, 0.1277], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__focal@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=focal -o loss__GSNet__focal@head.score_loss.yaml", "config_hash": "c18eeff30c279b57", "run": "2026-10-17@c43ea39", "seconds": 158.5},
  {"id": "loss/EconomicGrasp/focal@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1237, 0.1259, 0.983], "loss/graspness": [0.05915, 0.06338, 0.933], "loss/view": [0.8469, 0.8303, 1.02], "loss/angle": [1.549, 1.543, 1.004], "loss/depth": [0.7861, 0.7779, 1.011], "loss/score": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 1.0})", "loss/width": [0.5707, 0.5737, 0.995]}, "rise": {"loss/objectness": -0.149, "loss/graspness": -0.415, "loss/view": 0.052, "loss/angle": 0.015, "loss/depth": 0.023, "loss/score": 0.023, "loss/width": -0.116}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.504, -4.49, -4.468, -4.433], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__focal@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=focal -o loss__EconomicGrasp__focal@head.score_loss.yaml", "config_hash": "fe649be8f4b86f68", "run": "2026-10-17@c43ea39", "seconds": 140.9},
  {"id": "loss/EconomicGrasp/focal@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.73x, loss/depth 0.77x, loss/score 0.73x"], "terms": {"loss/objectness": [0.1231, 0.1259, 0.978], "loss/graspness": [0.06917, 0.06338, 1.091], "loss/view": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 100.0})", "loss/angle": [1.119, 1.543, 0.725], "loss/depth": [0.5971, 0.7779, 0.768], "loss/score": [0.9498, 1.31, 0.725], "loss/width": [0.692, 0.5737, 1.206]}, "rise": {"loss/objectness": -0.154, "loss/graspness": -0.42, "loss/view": 0.126, "loss/angle": 0.033, "loss/depth": 0.02, "loss/score": 0.034, "loss/width": -0.047}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.138, -2.972, -2.97, -2.87], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__focal@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=focal -o loss__EconomicGrasp__focal@view.loss.yaml", "config_hash": "0f9a2a96b9fa8058", "run": "2026-10-17@c43ea39", "seconds": 161.5},
  {"id": "loss/FineGrasp/focal@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08405, 0.08986, 0.935], "loss/graspness": [0.04385, 0.04722, 0.929], "loss/view": [0.7507, 0.7334, 1.024], "loss/angle": [0.9362, 0.9369, 0.999], "loss/depth": [0.4486, 0.4363, 1.028], "loss/score": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 1.0})", "loss/width": [0.3147, 0.3151, 0.999]}, "rise": {"loss/objectness": -0.206, "loss/graspness": -0.303, "loss/view": -0.021, "loss/angle": -0.186, "loss/depth": -0.153, "loss/score": -0.117, "loss/width": -0.25}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.916, -4.642, -4.775, -4.457], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__focal@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=focal -o loss__FineGrasp__focal@head.score_loss.yaml", "config_hash": "5417795adb4ec148", "run": "2026-10-17@c43ea39", "seconds": 507.3},
  {"id": "loss/FineGrasp/focal@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08468, 0.08986, 0.942], "loss/graspness": [0.04654, 0.04722, 0.986], "loss/view": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 100.0})", "loss/angle": [0.8089, 0.9369, 0.863], "loss/depth": [0.3689, 0.4363, 0.845], "loss/score": [0.6608, 0.8125, 0.813], "loss/width": [0.3687, 0.3151, 1.17]}, "rise": {"loss/objectness": -0.208, "loss/graspness": -0.42, "loss/view": 0.078, "loss/angle": -0.114, "loss/depth": -0.174, "loss/score": -0.143, "loss/width": -0.309}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.251, -2.109, -3.147, -3.569], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__focal@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=focal -o loss__FineGrasp__focal@view.loss.yaml", "config_hash": "0a4bfc2a14c87cd5", "run": "2026-10-17@c43ea39", "seconds": 505.4},
  {"id": "loss/GraspNet-baseline/focal@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.62x"], "terms": {"loss/objectness": [0.3831, 0.3739, 1.025], "loss/view": [0.02981, 0.02976, 1.002], "loss/score": [0.02184, 0.02246, 0.972], "loss/angle": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 0.2})", "loss/width": [0.008011, 0.01289, 0.621], "loss/tolerance": [0.01856, 0.02008, 0.924]}, "rise": {"loss/objectness": -0.078, "loss/view": -0.038, "loss/score": -0.051, "loss/angle": -0.017, "loss/width": -0.268, "loss/tolerance": -0.254}, "grasps_per_frame": [428, 342, 453, 273], "no_gradient": [], "unchanged": [], "score_median": [0.2214, 0.1735, 0.1793, 0.1707], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__focal@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=focal -o loss__GraspNet-baseline__focal@head.angle_loss.yaml", "config_hash": "e24890b9216ef763", "run": "2026-10-17@c43ea39", "seconds": 94.7},
  {"id": "loss/Scale-Balanced-Grasp/focal@head.angle_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.angle_loss=focal", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.37x"], "terms": {"loss/objectness": [0.1906, 0.1975, 0.965], "loss/view": [0.08226, 0.08244, 0.998], "loss/score": [0.01418, 0.01418, 1.0], "loss/angle": "its loss is replaced ({\"alpha\": 0.25, \"gamma\": 2.0, \"type\": \"FocalLoss\", \"weight\": 0.2})", "loss/width": [0.004217, 0.01146, 0.368], "loss/tolerance": [0.007133, 0.007067, 1.009]}, "rise": {"loss/objectness": -0.108, "loss/view": -0.017, "loss/score": -0.041, "loss/angle": -0.022, "loss/width": -0.302, "loss/tolerance": -0.287}, "grasps_per_frame": [94, 80, 78, 59], "no_gradient": [], "unchanged": [], "score_median": [0.05578, 0.09335, 0.0504, 0.05572], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__focal@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.angle_loss=focal -o loss__Scale-Balanced-Grasp__focal@head.angle_loss.yaml", "config_hash": "ec0f7da01a5afc94", "run": "2026-10-17@c43ea39", "seconds": 122.1},
  {"id": "loss/GSNet/ghm-c@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=ghm-c", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.327x the reference (tolerance 1.25)"], "terms": {"loss/objectness": "its loss is replaced (GHMC)", "loss/graspness": [0.1008, 0.07598, 1.327], "loss/view": [0.8072, 0.8476, 0.952], "loss/score": [0.03006, 0.0313, 0.96], "loss/width": [0.1095, 0.101, 1.083]}, "rise": {"loss/objectness": -0.087, "loss/graspness": -0.3, "loss/view": 0.261, "loss/score": 0.17, "loss/width": -0.124}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07165, 0.07922, 0.07799, 0.08718], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__ghm-c@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=ghm-c -o loss__GSNet__ghm-c@proposal.objectness_loss.yaml", "config_hash": "a9fbacd6959177bc", "run": "2026-10-17@c43ea39", "seconds": 156.1},
  {"id": "loss/GSNet/ghm-c@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=ghm-c", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.501x the reference (tolerance 1.25)", "loss/graspness 2.252x the reference (tolerance 1.25)", "loss/width 1.689x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.79x"], "terms": {"loss/objectness": [0.5468, 0.1562, 3.501], "loss/graspness": [0.1711, 0.07598, 2.252], "loss/view": [0.6679, 0.8476, 0.788], "loss/score": "its loss is replaced (GHMC)", "loss/width": [0.1707, 0.101, 1.689]}, "rise": {"loss/objectness": -0.028, "loss/graspness": -0.047, "loss/view": 0.117, "loss/score": -0.02, "loss/width": -0.034}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.4699, 0.4707, 0.4666, 0.4526], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__ghm-c@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=ghm-c -o loss__GSNet__ghm-c@head.score_loss.yaml", "config_hash": "b36ef594d502908f", "run": "2026-10-17@c43ea39", "seconds": 144.7},
  {"id": "loss/EconomicGrasp/ghm-c@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=ghm-c", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.368x the reference (tolerance 1.25)", "loss/graspness 1.703x the reference (tolerance 1.25)", "loss/width 1.304x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1722, 0.1259, 1.368], "loss/graspness": [0.108, 0.06338, 1.703], "loss/view": [0.7725, 0.8303, 0.93], "loss/angle": [1.554, 1.543, 1.007], "loss/depth": [0.8547, 0.7779, 1.099], "loss/score": "its loss is replaced (GHMC)", "loss/width": [0.7481, 0.5737, 1.304]}, "rise": {"loss/objectness": -0.139, "loss/graspness": -0.21, "loss/view": 0.004, "loss/angle": 0.056, "loss/depth": 0.071, "loss/score": -0.052, "loss/width": -0.005}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.7393, -0.6732, -0.6523, -0.6262], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__ghm-c@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=ghm-c -o loss__EconomicGrasp__ghm-c@head.score_loss.yaml", "config_hash": "13ff299bda7ddb46", "run": "2026-10-17@c43ea39", "seconds": 150.1},
  {"id": "loss/EconomicGrasp/ghm-c@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=ghm-c", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 4.029x the reference (tolerance 1.25)", "loss/graspness 3.210x the reference (tolerance 1.25)", "loss/width 1.258x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.58x, loss/depth 0.62x, loss/score 0.58x"], "terms": {"loss/objectness": [0.5072, 0.1259, 4.029], "loss/graspness": [0.2034, 0.06338, 3.21], "loss/view": "its loss is replaced (GHMC)", "loss/angle": [0.8934, 1.543, 0.579], "loss/depth": [0.483, 0.7779, 0.621], "loss/score": [0.7611, 1.31, 0.581], "loss/width": [0.7218, 0.5737, 1.258]}, "rise": {"loss/objectness": -0.009, "loss/graspness": -0.036, "loss/view": -0.014, "loss/angle": 0.017, "loss/depth": 0.016, "loss/score": 0.022, "loss/width": -0.004}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.266, -3.443, -3.37, -3.381], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__ghm-c@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=ghm-c -o loss__EconomicGrasp__ghm-c@view.loss.yaml", "config_hash": "8f6baa12e51211b9", "run": "2026-10-17@c43ea39", "seconds": 141.0},
  {"id": "loss/FineGrasp/ghm-c@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=ghm-c", "level1": "runs", "outcome": "diverging", "reasons": ["loss/depth rises +10 % over the last half; the reference -14 %", "loss/objectness 1.481x the reference (tolerance 1.25)", "loss/graspness 2.567x the reference (tolerance 1.25)", "loss/angle 1.623x the reference (tolerance 1.25)", "loss/depth 1.797x the reference (tolerance 1.25)", "loss/width 2.250x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1331, 0.08986, 1.481], "loss/graspness": [0.1212, 0.04722, 2.567], "loss/view": [0.7631, 0.7334, 1.04], "loss/angle": [1.52, 0.9369, 1.623], "loss/depth": [0.7841, 0.4363, 1.797], "loss/score": "its loss is replaced (GHMC)", "loss/width": [0.709, 0.3151, 2.25]}, "rise": {"loss/objectness": -0.311, "loss/graspness": -0.073, "loss/view": 0.011, "loss/angle": 0.096, "loss/depth": 0.104, "loss/score": 0.043, "loss/width": -0.007}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.9666, -0.9698, -0.966, -0.9497], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__ghm-c@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=ghm-c -o loss__FineGrasp__ghm-c@head.score_loss.yaml", "config_hash": "4310b91a36e12da7", "run": "2026-10-17@c43ea39", "seconds": 508.7},
  {"id": "loss/FineGrasp/ghm-c@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=ghm-c", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 5.965x the reference (tolerance 1.25)", "loss/graspness 6.275x the reference (tolerance 1.25)", "loss/width 2.354x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.536, 0.08986, 5.965], "loss/graspness": [0.2963, 0.04722, 6.275], "loss/view": "its loss is replaced (GHMC)", "loss/angle": [0.8933, 0.9369, 0.953], "loss/depth": [0.4898, 0.4363, 1.123], "loss/score": [0.7566, 0.8125, 0.931], "loss/width": [0.7417, 0.3151, 2.354]}, "rise": {"loss/objectness": 0.077, "loss/graspness": 0.095, "loss/view": 0.014, "loss/angle": 0.017, "loss/depth": 0.019, "loss/score": 0.018, "loss/width": -0.052}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.132, -2.137, -2.133, -2.138], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__ghm-c@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=ghm-c -o loss__FineGrasp__ghm-c@view.loss.yaml", "config_hash": "35089a1b9c1b10fc", "run": "2026-10-17@c43ea39", "seconds": 507.5},
  {"id": "loss/GraspNet-baseline/ghm-c@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=ghm-c", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.347x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3724, 0.3739, 0.996], "loss/view": [0.02982, 0.02976, 1.002], "loss/score": [0.02328, 0.02246, 1.037], "loss/angle": "its loss is replaced (GHMC)", "loss/width": [0.01736, 0.01289, 1.347], "loss/tolerance": [0.02117, 0.02008, 1.054]}, "rise": {"loss/objectness": -0.077, "loss/view": -0.034, "loss/score": -0.026, "loss/angle": 0.006, "loss/width": -0.1, "loss/tolerance": -0.306}, "grasps_per_frame": [428, 326, 544, 443], "no_gradient": [], "unchanged": [], "score_median": [0.2149, 0.175, 0.1711, 0.08002], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__ghm-c@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=ghm-c -o loss__GraspNet-baseline__ghm-c@head.angle_loss.yaml", "config_hash": "25dcb236d4d602d2", "run": "2026-10-17@c43ea39", "seconds": 88.1},
  {"id": "loss/Scale-Balanced-Grasp/ghm-c@head.angle_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.angle_loss=ghm-c", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.500x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2084, 0.1975, 1.055], "loss/view": [0.08314, 0.08244, 1.009], "loss/score": [0.01457, 0.01418, 1.027], "loss/angle": "its loss is replaced (GHMC)", "loss/width": [0.01719, 0.01146, 1.5], "loss/tolerance": [0.007481, 0.007067, 1.059]}, "rise": {"loss/objectness": -0.096, "loss/view": -0.008, "loss/score": -0.027, "loss/angle": 0.024, "loss/width": -0.09, "loss/tolerance": -0.34}, "grasps_per_frame": [10, 0, 14, 8], "no_gradient": [], "unchanged": [], "score_median": [0.05725, null, 0.1765, 0.05626], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__ghm-c@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.angle_loss=ghm-c -o loss__Scale-Balanced-Grasp__ghm-c@head.angle_loss.yaml", "config_hash": "e805ab714a405898", "run": "2026-10-17@c43ea39", "seconds": 121.3},
  {"id": "loss/GSNet/ghm-r@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=ghm-r", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1596, 0.1562, 1.022], "loss/graspness": [0.07971, 0.07598, 1.049], "loss/view": [0.8307, 0.8476, 0.98], "loss/score": "its loss is replaced (GHMR)", "loss/width": [0.1081, 0.101, 1.069]}, "rise": {"loss/objectness": -0.215, "loss/graspness": -0.37, "loss/view": 0.217, "loss/score": 0.194, "loss/width": -0.038}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.02449, 0.02427, 0.02465, 0.02605], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__ghm-r@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=ghm-r -o loss__GSNet__ghm-r@head.score_loss.yaml", "config_hash": "9fddcd738fb90efb", "run": "2026-10-17@c43ea39", "seconds": 147.5},
  {"id": "loss/GSNet/ghm-r@head.width_loss", "kind": "loss", "method": "GSNet", "option": "head.width_loss=ghm-r", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.349x the reference (tolerance 1.25)", "loss/graspness 1.679x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2107, 0.1562, 1.349], "loss/graspness": [0.1276, 0.07598, 1.679], "loss/view": [0.692, 0.8476, 0.816], "loss/score": [0.02961, 0.0313, 0.946], "loss/width": "its loss is replaced (GHMR)"}, "rise": {"loss/objectness": -0.26, "loss/graspness": -0.225, "loss/view": 0.165, "loss/score": 0.019, "loss/width": -0.025}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09586, 0.09987, 0.09177, 0.1054], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__ghm-r@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.width_loss=ghm-r -o loss__GSNet__ghm-r@head.width_loss.yaml", "config_hash": "d99e0df6c1739686", "run": "2026-10-17@c43ea39", "seconds": 134.3},
  {"id": "loss/EconomicGrasp/ghm-r@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=ghm-r", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 2.101x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1459, 0.1259, 1.159], "loss/graspness": [0.1332, 0.06338, 2.101], "loss/view": "its loss is replaced (GHMR)", "loss/angle": [1.246, 1.543, 0.807], "loss/depth": [0.6271, 0.7779, 0.806], "loss/score": [1.052, 1.31, 0.803], "loss/width": [0.6129, 0.5737, 1.068]}, "rise": {"loss/objectness": -0.344, "loss/graspness": -0.156, "loss/view": -0.071, "loss/angle": -0.0, "loss/depth": -0.006, "loss/score": 0.003, "loss/width": -0.105}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.642, -3.855, -3.63, -3.666], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__ghm-r@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=ghm-r -o loss__EconomicGrasp__ghm-r@view.loss.yaml", "config_hash": "58ff6e2d447b7dbe", "run": "2026-10-17@c43ea39", "seconds": 155.3},
  {"id": "loss/EconomicGrasp/ghm-r@head.width_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.width_loss=ghm-r", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.269x the reference (tolerance 1.25)", "loss/graspness 1.741x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1598, 0.1259, 1.269], "loss/graspness": [0.1103, 0.06338, 1.741], "loss/view": [0.7848, 0.8303, 0.945], "loss/angle": [1.583, 1.543, 1.025], "loss/depth": [0.8407, 0.7779, 1.081], "loss/score": [1.324, 1.31, 1.011], "loss/width": "its loss is replaced (GHMR)"}, "rise": {"loss/objectness": -0.367, "loss/graspness": -0.253, "loss/view": 0.039, "loss/angle": 0.101, "loss/depth": 0.116, "loss/score": 0.102, "loss/width": -0.057}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.465, -2.534, -2.537, -2.545], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__ghm-r@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.width_loss=ghm-r -o loss__EconomicGrasp__ghm-r@head.width_loss.yaml", "config_hash": "cc61b6cb179ae2fa", "run": "2026-10-17@c43ea39", "seconds": 146.5},
  {"id": "loss/FineGrasp/ghm-r@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=ghm-r", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.985x the reference (tolerance 1.25)", "loss/graspness 4.719x the reference (tolerance 1.25)", "loss/width 1.525x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.71x, loss/depth 0.76x, loss/score 0.69x"], "terms": {"loss/objectness": [0.1784, 0.08986, 1.985], "loss/graspness": [0.2229, 0.04722, 4.719], "loss/view": "its loss is replaced (GHMR)", "loss/angle": [0.6669, 0.9369, 0.712], "loss/depth": [0.3304, 0.4363, 0.757], "loss/score": [0.5579, 0.8125, 0.687], "loss/width": [0.4804, 0.3151, 1.525]}, "rise": {"loss/objectness": -0.383, "loss/graspness": -0.23, "loss/view": 0.046, "loss/angle": -0.112, "loss/depth": -0.125, "loss/score": -0.111, "loss/width": -0.191}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.182, -3.107, -3.339, -3.319], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__ghm-r@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=ghm-r -o loss__FineGrasp__ghm-r@view.loss.yaml", "config_hash": "d3221763571d767e", "run": "2026-10-17@c43ea39", "seconds": 507.3},
  {"id": "loss/FineGrasp/ghm-r@head.width_loss", "kind": "loss", "method": "FineGrasp", "option": "head.width_loss=ghm-r", "level1": "runs", "outcome": "diverging", "reasons": ["loss/graspness rises +15 % over the last half; the reference -28 %", "loss/objectness 1.282x the reference (tolerance 1.25)", "loss/graspness 1.599x the reference (tolerance 1.25)", "loss/angle 1.425x the reference (tolerance 1.25)", "loss/depth 1.449x the reference (tolerance 1.25)", "loss/score 1.356x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1152, 0.08986, 1.282], "loss/graspness": [0.07549, 0.04722, 1.599], "loss/view": [0.7415, 0.7334, 1.011], "loss/angle": [1.335, 0.9369, 1.425], "loss/depth": [0.6323, 0.4363, 1.449], "loss/score": [1.102, 0.8125, 1.356], "loss/width": "its loss is replaced (GHMR)"}, "rise": {"loss/objectness": 0.085, "loss/graspness": 0.149, "loss/view": -0.02, "loss/angle": -0.101, "loss/depth": -0.141, "loss/score": -0.113, "loss/width": -0.097}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.018, -1.408, -1.799, -2.13], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__ghm-r@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.width_loss=ghm-r -o loss__FineGrasp__ghm-r@head.width_loss.yaml", "config_hash": "477cfd14068ad166", "run": "2026-10-17@c43ea39", "seconds": 506.9},
  {"id": "loss/GraspNet-baseline/ghm-r@head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.tolerance_loss=ghm-r", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3535, 0.3739, 0.946], "loss/view": [0.02962, 0.02976, 0.995], "loss/score": [0.02245, 0.02246, 1.0], "loss/angle": [0.3348, 0.3337, 1.003], "loss/width": [0.01451, 0.01289, 1.126], "loss/tolerance": "its loss is replaced (GHMR)"}, "rise": {"loss/objectness": -0.102, "loss/view": -0.044, "loss/score": -0.031, "loss/angle": -0.041, "loss/width": -0.132, "loss/tolerance": -0.023}, "grasps_per_frame": [404, 297, 441, 473], "no_gradient": [], "unchanged": [], "score_median": [0.04684, 0.25, 0.5333, 0.2429], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__ghm-r@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.tolerance_loss=ghm-r -o loss__GraspNet-baseline__ghm-r@head.tolerance_loss.yaml", "config_hash": "a11cb52ef6be86ef", "run": "2026-10-17@c43ea39", "seconds": 88.3},
  {"id": "loss/Scale-Balanced-Grasp/ghm-r@head.tolerance_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.tolerance_loss=ghm-r", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.79x"], "terms": {"loss/objectness": [0.2139, 0.1975, 1.083], "loss/view": [0.08345, 0.08244, 1.012], "loss/score": [0.01277, 0.01418, 0.901], "loss/angle": [0.3347, 0.3132, 1.069], "loss/width": [0.009053, 0.01146, 0.79], "loss/tolerance": "its loss is replaced (GHMR)"}, "rise": {"loss/objectness": -0.086, "loss/view": -0.014, "loss/score": -0.061, "loss/angle": -0.051, "loss/width": -0.087, "loss/tolerance": -0.507}, "grasps_per_frame": [49, 82, 42, 90], "no_gradient": [], "unchanged": [], "score_median": [0.6014, 0.008661, -0.1416, -0.01006], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__ghm-r@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.tolerance_loss=ghm-r -o loss__Scale-Balanced-Grasp__ghm-r@head.tolerance_loss.yaml", "config_hash": "b72312c5aa2d3d40", "run": "2026-10-17@c43ea39", "seconds": 128.1},
  {"id": "loss/GSNet/huber@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=huber", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.157, 0.1562, 1.005], "loss/graspness": [0.07792, 0.07598, 1.026], "loss/view": [0.8328, 0.8476, 0.982], "loss/score": "its loss is replaced (Huber)", "loss/width": [0.1017, 0.101, 1.007]}, "rise": {"loss/objectness": -0.218, "loss/graspness": -0.374, "loss/view": 0.221, "loss/score": 0.264, "loss/width": -0.071}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07159, 0.06876, 0.06875, 0.07654], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__huber@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=huber -o loss__GSNet__huber@head.score_loss.yaml", "config_hash": "0aab1869c7584c7a", "run": "2026-10-17@c43ea39", "seconds": 145.8},
  {"id": "loss/GSNet/huber@head.width_loss", "kind": "loss", "method": "GSNet", "option": "head.width_loss=huber", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1569, 0.1562, 1.005], "loss/graspness": [0.07699, 0.07598, 1.013], "loss/view": [0.8356, 0.8476, 0.986], "loss/score": [0.02983, 0.0313, 0.953], "loss/width": "its loss is replaced (Huber)"}, "rise": {"loss/objectness": -0.213, "loss/graspness": -0.375, "loss/view": 0.206, "loss/score": 0.241, "loss/width": -0.071}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07256, 0.07228, 0.06661, 0.06813], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__huber@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.width_loss=huber -o loss__GSNet__huber@head.width_loss.yaml", "config_hash": "1003ea6a25848ce7", "run": "2026-10-17@c43ea39", "seconds": 151.6},
  {"id": "loss/EconomicGrasp/huber@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=huber", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1292, 0.1259, 1.026], "loss/graspness": [0.06875, 0.06338, 1.085], "loss/view": "its loss is replaced (Huber)", "loss/angle": [1.511, 1.543, 0.979], "loss/depth": [0.7583, 0.7779, 0.975], "loss/score": [1.269, 1.31, 0.969], "loss/width": [0.5662, 0.5737, 0.987]}, "rise": {"loss/objectness": -0.126, "loss/graspness": -0.366, "loss/view": 0.032, "loss/angle": 0.027, "loss/depth": 0.013, "loss/score": 0.025, "loss/width": -0.126}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.9361, -0.7596, -0.941, 0.1407], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__huber@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=huber -o loss__EconomicGrasp__huber@view.loss.yaml", "config_hash": "27c887bfb49d431b", "run": "2026-10-17@c43ea39", "seconds": 143.6},
  {"id": "loss/EconomicGrasp/huber@head.width_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.width_loss=huber", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1319, 0.1259, 1.048], "loss/graspness": [0.07039, 0.06338, 1.111], "loss/view": [0.8456, 0.8303, 1.018], "loss/angle": [1.476, 1.543, 0.957], "loss/depth": [0.7391, 0.7779, 0.95], "loss/score": [1.256, 1.31, 0.959], "loss/width": "its loss is replaced (Huber)"}, "rise": {"loss/objectness": -0.134, "loss/graspness": -0.391, "loss/view": 0.047, "loss/angle": 0.017, "loss/depth": 0.006, "loss/score": 0.021, "loss/width": -0.115}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.9796, -0.5346, -0.5912, -0.003558], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__huber@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.width_loss=huber -o loss__EconomicGrasp__huber@head.width_loss.yaml", "config_hash": "70e9f8c0099c5b1d", "run": "2026-10-17@c43ea39", "seconds": 166.1},
  {"id": "loss/FineGrasp/huber@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=huber", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09372, 0.08986, 1.043], "loss/graspness": [0.04416, 0.04722, 0.935], "loss/view": "its loss is replaced (Huber)", "loss/angle": [0.9396, 0.9369, 1.003], "loss/depth": [0.4328, 0.4363, 0.992], "loss/score": [0.8104, 0.8125, 0.997], "loss/width": [0.3136, 0.3151, 0.995]}, "rise": {"loss/objectness": -0.133, "loss/graspness": -0.261, "loss/view": -0.03, "loss/angle": -0.167, "loss/depth": -0.158, "loss/score": -0.143, "loss/width": -0.239}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.174, -1.896, -2.703, -2.427], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__huber@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=huber -o loss__FineGrasp__huber@view.loss.yaml", "config_hash": "83348bc66a2d44d5", "run": "2026-10-17@c43ea39", "seconds": 507.2},
  {"id": "loss/FineGrasp/huber@head.width_loss", "kind": "loss", "method": "FineGrasp", "option": "head.width_loss=huber", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09069, 0.08986, 1.009], "loss/graspness": [0.05057, 0.04722, 1.071], "loss/view": [0.7589, 0.7334, 1.035], "loss/angle": [0.9519, 0.9369, 1.016], "loss/depth": [0.4541, 0.4363, 1.041], "loss/score": [0.8307, 0.8125, 1.022], "loss/width": "its loss is replaced (Huber)"}, "rise": {"loss/objectness": -0.153, "loss/graspness": -0.244, "loss/view": -0.011, "loss/angle": -0.167, "loss/depth": -0.147, "loss/score": -0.133, "loss/width": -0.235}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.748, -2.814, -3.788, -3.329], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__huber@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.width_loss=huber -o loss__FineGrasp__huber@head.width_loss.yaml", "config_hash": "91e3ddfb1de989c7", "run": "2026-10-17@c43ea39", "seconds": 507.6},
  {"id": "loss/GraspNet-baseline/huber@head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.tolerance_loss=huber", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3567, 0.3739, 0.954], "loss/view": [0.02953, 0.02976, 0.992], "loss/score": [0.02269, 0.02246, 1.01], "loss/angle": [0.3302, 0.3337, 0.989], "loss/width": [0.01256, 0.01289, 0.974], "loss/tolerance": "its loss is replaced (Huber)"}, "rise": {"loss/objectness": -0.105, "loss/view": -0.04, "loss/score": -0.059, "loss/angle": -0.047, "loss/width": -0.202, "loss/tolerance": -0.356}, "grasps_per_frame": [439, 377, 470, 452], "no_gradient": [], "unchanged": [], "score_median": [0.1364, 0.2158, 0.2007, 0.1444], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__huber@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.tolerance_loss=huber -o loss__GraspNet-baseline__huber@head.tolerance_loss.yaml", "config_hash": "acdb88c0b189edde", "run": "2026-10-17@c43ea39", "seconds": 86.7},
  {"id": "loss/Scale-Balanced-Grasp/huber@head.tolerance_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.tolerance_loss=huber", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1975, 0.1975, 1.0], "loss/view": [0.08244, 0.08244, 1.0], "loss/score": [0.01418, 0.01418, 1.0], "loss/angle": [0.3132, 0.3132, 1.0], "loss/width": [0.01146, 0.01146, 1.0], "loss/tolerance": "its loss is replaced (Huber)"}, "rise": {"loss/objectness": -0.092, "loss/view": -0.016, "loss/score": 0.004, "loss/angle": -0.062, "loss/width": 0.136, "loss/tolerance": -0.228}, "grasps_per_frame": [8, 16, 3, 5], "no_gradient": [], "unchanged": [], "score_median": [0.04991, 0.0513, 0.01672, 0.01041], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__huber@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.tolerance_loss=huber -o loss__Scale-Balanced-Grasp__huber@head.tolerance_loss.yaml", "config_hash": "d4c07e1e7103ef72", "run": "2026-10-17@c43ea39", "seconds": 131.3},
  {"id": "loss/GSNet/label-smoothing@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=label-smoothing", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (LabelSmoothingCrossEntropy)", "loss/graspness": [0.07516, 0.07598, 0.989], "loss/view": [0.8514, 0.8476, 1.005], "loss/score": [0.03331, 0.0313, 1.064], "loss/width": [0.09912, 0.101, 0.981]}, "rise": {"loss/objectness": -0.122, "loss/graspness": -0.333, "loss/view": 0.189, "loss/score": 0.216, "loss/width": -0.078}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06894, 0.06994, 0.07821, 0.06933], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__label-smoothing@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=label-smoothing -o loss__GSNet__label-smoothing@proposal.objectness_loss.yaml", "config_hash": "7f7a30ffc6e5eac2", "run": "2026-10-17@c43ea39", "seconds": 142.9},
  {"id": "loss/EconomicGrasp/label-smoothing@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=label-smoothing", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1267, 0.1259, 1.007], "loss/graspness": [0.06115, 0.06338, 0.965], "loss/view": [0.83, 0.8303, 1.0], "loss/angle": [1.502, 1.543, 0.973], "loss/depth": [0.7698, 0.7779, 0.99], "loss/score": "its loss is replaced (LabelSmoothingCrossEntropy)", "loss/width": [0.5709, 0.5737, 0.995]}, "rise": {"loss/objectness": -0.141, "loss/graspness": -0.389, "loss/view": 0.036, "loss/angle": 0.018, "loss/depth": 0.025, "loss/score": 0.021, "loss/width": -0.117}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.246, -1.287, -1.368, -0.7853], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__label-smoothing@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=label-smoothing -o loss__EconomicGrasp__label-smoothing@head.score_loss.yaml", "config_hash": "6239df1367c77196", "run": "2026-10-17@c43ea39", "seconds": 153.5},
  {"id": "loss/FineGrasp/label-smoothing@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=label-smoothing", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.088, 0.08986, 0.979], "loss/graspness": [0.04865, 0.04722, 1.03], "loss/view": [0.7497, 0.7334, 1.022], "loss/angle": [0.9172, 0.9369, 0.979], "loss/depth": [0.4327, 0.4363, 0.992], "loss/score": "its loss is replaced (LabelSmoothingCrossEntropy)", "loss/width": [0.3111, 0.3151, 0.987]}, "rise": {"loss/objectness": -0.186, "loss/graspness": -0.266, "loss/view": -0.013, "loss/angle": -0.191, "loss/depth": -0.171, "loss/score": -0.099, "loss/width": -0.255}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.261, -1.004, -1.31, -1.344], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__label-smoothing@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=label-smoothing -o loss__FineGrasp__label-smoothing@head.score_loss.yaml", "config_hash": "f2dfebecd5258896", "run": "2026-10-17@c43ea39", "seconds": 506.5},
  {"id": "loss/GraspNet-baseline/label-smoothing@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=label-smoothing", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3689, 0.3739, 0.987], "loss/view": [0.02975, 0.02976, 1.0], "loss/score": [0.02274, 0.02246, 1.012], "loss/angle": "its loss is replaced (LabelSmoothingCrossEntropy)", "loss/width": [0.01102, 0.01289, 0.855], "loss/tolerance": [0.01951, 0.02008, 0.972]}, "rise": {"loss/objectness": -0.066, "loss/view": -0.033, "loss/score": -0.032, "loss/angle": -0.033, "loss/width": -0.21, "loss/tolerance": -0.349}, "grasps_per_frame": [422, 342, 379, 415], "no_gradient": [], "unchanged": [], "score_median": [0.1548, 0.1795, 0.1667, 0.1456], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__label-smoothing@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=label-smoothing -o loss__GraspNet-baseline__label-smoothing@head.angle_loss.yaml", "config_hash": "8e288d7743b38d61", "run": "2026-10-17@c43ea39", "seconds": 89.6},
  {"id": "loss/Scale-Balanced-Grasp/label-smoothing@head.angle_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.angle_loss=label-smoothing", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.70x"], "terms": {"loss/objectness": [0.1877, 0.1975, 0.95], "loss/view": [0.08221, 0.08244, 0.997], "loss/score": [0.01227, 0.01418, 0.865], "loss/angle": "its loss is replaced (LabelSmoothingCrossEntropy)", "loss/width": [0.007974, 0.01146, 0.696], "loss/tolerance": [0.006999, 0.007067, 0.99]}, "rise": {"loss/objectness": -0.081, "loss/view": -0.017, "loss/score": -0.067, "loss/angle": -0.04, "loss/width": -0.037, "loss/tolerance": -0.209}, "grasps_per_frame": [94, 69, 51, 56], "no_gradient": [], "unchanged": [], "score_median": [0.1076, 0.05334, 0.07836, 0.1145], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__label-smoothing@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.angle_loss=label-smoothing -o loss__Scale-Balanced-Grasp__label-smoothing@head.angle_loss.yaml", "config_hash": "7279510095f062de", "run": "2026-10-17@c43ea39", "seconds": 130.6},
  {"id": "loss/EconomicGrasp/lovasz-softmax@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=lovasz-softmax", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1278, 0.1259, 1.015], "loss/graspness": [0.06256, 0.06338, 0.987], "loss/view": [0.8563, 0.8303, 1.031], "loss/angle": [1.574, 1.543, 1.02], "loss/depth": [0.7715, 0.7779, 0.992], "loss/score": "its loss is replaced ({\"type\": \"LovaszSoftmaxLoss\", \"weight\": 1.0})", "loss/width": [0.5821, 0.5737, 1.015]}, "rise": {"loss/objectness": -0.147, "loss/graspness": -0.4, "loss/view": 0.053, "loss/angle": 0.023, "loss/depth": -0.004, "loss/score": -0.189, "loss/width": -0.119}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-6.538, -6.466, -6.476, -5.7], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__lovasz-softmax@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=lovasz-softmax -o loss__EconomicGrasp__lovasz-softmax@head.score_loss.yaml", "config_hash": "556434c692375fbc", "run": "2026-10-17@c43ea39", "seconds": 146.5},
  {"id": "loss/FineGrasp/lovasz-softmax@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=lovasz-softmax", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.07879, 0.08986, 0.877], "loss/graspness": [0.03986, 0.04722, 0.844], "loss/view": [0.7152, 0.7334, 0.975], "loss/angle": [0.9018, 0.9369, 0.963], "loss/depth": [0.4294, 0.4363, 0.984], "loss/score": "its loss is replaced ({\"type\": \"LovaszSoftmaxLoss\", \"weight\": 1.0})", "loss/width": [0.2895, 0.3151, 0.919]}, "rise": {"loss/objectness": -0.183, "loss/graspness": -0.251, "loss/view": -0.049, "loss/angle": -0.207, "loss/depth": -0.156, "loss/score": -0.086, "loss/width": -0.265}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-6.108, -6.031, -6.175, -5.754], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__lovasz-softmax@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=lovasz-softmax -o loss__FineGrasp__lovasz-softmax@head.score_loss.yaml", "config_hash": "08f4f20bf3ab2883", "run": "2026-10-17@c43ea39", "seconds": 506.8},
  {"id": "loss/GraspNet-baseline/lovasz-softmax@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=lovasz-softmax", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.66x"], "terms": {"loss/objectness": [0.3782, 0.3739, 1.012], "loss/view": [0.02973, 0.02976, 0.999], "loss/score": [0.02209, 0.02246, 0.983], "loss/angle": "its loss is replaced ({\"type\": \"LovaszSoftmaxLoss\", \"weight\": 0.2})", "loss/width": [0.00851, 0.01289, 0.66], "loss/tolerance": [0.01729, 0.02008, 0.861]}, "rise": {"loss/objectness": -0.084, "loss/view": -0.032, "loss/score": -0.075, "loss/angle": -0.12, "loss/width": -0.291, "loss/tolerance": -0.346}, "grasps_per_frame": [417, 421, 529, 449], "no_gradient": [], "unchanged": [], "score_median": [0.0554, 0.09255, 0.04504, 0.07159], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__lovasz-softmax@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=lovasz-softmax -o loss__GraspNet-baseline__lovasz-softmax@head.angle_loss.yaml", "config_hash": "1fb749e64c537a16", "run": "2026-10-17@c43ea39", "seconds": 93.2},
  {"id": "loss/GSNet/ohem-smooth-l1@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=ohem-smooth-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.153, 0.1562, 0.98], "loss/graspness": [0.06871, 0.07598, 0.904], "loss/view": [0.8351, 0.8476, 0.985], "loss/score": "its loss is replaced (TopK)", "loss/width": [0.1001, 0.101, 0.991]}, "rise": {"loss/objectness": -0.21, "loss/graspness": -0.346, "loss/view": 0.151, "loss/score": 0.322, "loss/width": -0.08}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0661, 0.06386, 0.06705, 0.06929], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__ohem-smooth-l1@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=ohem-smooth-l1 -o loss__GSNet__ohem-smooth-l1@head.score_loss.yaml", "config_hash": "5c736a5c1132ac28", "run": "2026-10-17@c43ea39", "seconds": 145.6},
  {"id": "loss/GSNet/ohem-smooth-l1@head.width_loss", "kind": "loss", "method": "GSNet", "option": "head.width_loss=ohem-smooth-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.171, 0.1562, 1.095], "loss/graspness": [0.08915, 0.07598, 1.173], "loss/view": [0.79, 0.8476, 0.932], "loss/score": [0.03243, 0.0313, 1.036], "loss/width": "its loss is replaced (TopK)"}, "rise": {"loss/objectness": -0.246, "loss/graspness": -0.333, "loss/view": 0.205, "loss/score": 0.122, "loss/width": -0.047}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0797, 0.08354, 0.08659, 0.0838], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__ohem-smooth-l1@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.width_loss=ohem-smooth-l1 -o loss__GSNet__ohem-smooth-l1@head.width_loss.yaml", "config_hash": "10ce01b60a5d803d", "run": "2026-10-17@c43ea39", "seconds": 143.7},
  {"id": "loss/EconomicGrasp/ohem-smooth-l1@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=ohem-smooth-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.76x, loss/depth 0.78x, loss/score 0.78x"], "terms": {"loss/objectness": [0.1217, 0.1259, 0.967], "loss/graspness": [0.0599, 0.06338, 0.945], "loss/view": "its loss is replaced (TopK)", "loss/angle": [1.17, 1.543, 0.758], "loss/depth": [0.6034, 0.7779, 0.776], "loss/score": [1.016, 1.31, 0.775], "loss/width": [0.6373, 0.5737, 1.111]}, "rise": {"loss/objectness": -0.222, "loss/graspness": -0.229, "loss/view": 0.017, "loss/angle": 0.004, "loss/depth": -0.011, "loss/score": 0.016, "loss/width": -0.077}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.485, -2.236, -2.293, -1.645], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__ohem-smooth-l1@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=ohem-smooth-l1 -o loss__EconomicGrasp__ohem-smooth-l1@view.loss.yaml", "config_hash": "7fd67698ef0ee323", "run": "2026-10-17@c43ea39", "seconds": 148.6},
  {"id": "loss/EconomicGrasp/ohem-smooth-l1@head.width_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.width_loss=ohem-smooth-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1357, 0.1259, 1.078], "loss/graspness": [0.07021, 0.06338, 1.108], "loss/view": [0.8222, 0.8303, 0.99], "loss/angle": [1.589, 1.543, 1.03], "loss/depth": [0.827, 0.7779, 1.063], "loss/score": [1.371, 1.31, 1.047], "loss/width": "its loss is replaced (TopK)"}, "rise": {"loss/objectness": -0.292, "loss/graspness": -0.421, "loss/view": 0.049, "loss/angle": 0.047, "loss/depth": 0.045, "loss/score": 0.076, "loss/width": -0.038}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.488, -1.394, -1.415, -1.365], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__ohem-smooth-l1@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.width_loss=ohem-smooth-l1 -o loss__EconomicGrasp__ohem-smooth-l1@head.width_loss.yaml", "config_hash": "27eb76a002e821f7", "run": "2026-10-17@c43ea39", "seconds": 160.9},
  {"id": "loss/FineGrasp/ohem-smooth-l1@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=ohem-smooth-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09071, 0.08986, 1.009], "loss/graspness": [0.04748, 0.04722, 1.005], "loss/view": "its loss is replaced (TopK)", "loss/angle": [0.8109, 0.9369, 0.865], "loss/depth": [0.3918, 0.4363, 0.898], "loss/score": [0.6998, 0.8125, 0.861], "loss/width": [0.3003, 0.3151, 0.953]}, "rise": {"loss/objectness": -0.174, "loss/graspness": -0.246, "loss/view": -0.138, "loss/angle": -0.119, "loss/depth": -0.086, "loss/score": -0.089, "loss/width": -0.237}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.169, -2.091, -3.453, -3.109], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__ohem-smooth-l1@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=ohem-smooth-l1 -o loss__FineGrasp__ohem-smooth-l1@view.loss.yaml", "config_hash": "d01b35ba9921e80e", "run": "2026-10-17@c43ea39", "seconds": 507.1},
  {"id": "loss/FineGrasp/ohem-smooth-l1@head.width_loss", "kind": "loss", "method": "FineGrasp", "option": "head.width_loss=ohem-smooth-l1", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.291x the reference (tolerance 1.25)", "loss/angle 1.275x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1083, 0.08986, 1.206], "loss/graspness": [0.06094, 0.04722, 1.291], "loss/view": [0.7564, 0.7334, 1.031], "loss/angle": [1.194, 0.9369, 1.275], "loss/depth": [0.533, 0.4363, 1.221], "loss/score": [0.9717, 0.8125, 1.196], "loss/width": "its loss is replaced (TopK)"}, "rise": {"loss/objectness": -0.105, "loss/graspness": -0.318, "loss/view": -0.03, "loss/angle": -0.14, "loss/depth": -0.211, "loss/score": -0.162, "loss/width": -0.135}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.217, -1.58, -2.224, -1.345], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__ohem-smooth-l1@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.width_loss=ohem-smooth-l1 -o loss__FineGrasp__ohem-smooth-l1@head.width_loss.yaml", "config_hash": "61c66d4c9524ca16", "run": "2026-10-17@c43ea39", "seconds": 506.7},
  {"id": "loss/GraspNet-baseline/ohem-smooth-l1@head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.tolerance_loss=ohem-smooth-l1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3661, 0.3739, 0.979], "loss/view": [0.02978, 0.02976, 1.001], "loss/score": [0.02271, 0.02246, 1.011], "loss/angle": [0.3309, 0.3337, 0.992], "loss/width": [0.01312, 0.01289, 1.018], "loss/tolerance": "its loss is replaced (TopK)"}, "rise": {"loss/objectness": -0.116, "loss/view": -0.035, "loss/score": -0.035, "loss/angle": -0.049, "loss/width": -0.117, "loss/tolerance": -0.315}, "grasps_per_frame": [407, 382, 292, 535], "no_gradient": [], "unchanged": [], "score_median": [0.002267, -0.01475, 0.001255, -0.006991], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__ohem-smooth-l1@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.tolerance_loss=ohem-smooth-l1 -o loss__GraspNet-baseline__ohem-smooth-l1@head.tolerance_loss.yaml", "config_hash": "2716895960dbacd5", "run": "2026-10-17@c43ea39", "seconds": 91.1},
  {"id": "loss/Scale-Balanced-Grasp/ohem-smooth-l1@head.tolerance_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.tolerance_loss=ohem-smooth-l1", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.74x"], "terms": {"loss/objectness": [0.1973, 0.1975, 0.999], "loss/view": [0.08286, 0.08244, 1.005], "loss/score": [0.01346, 0.01418, 0.949], "loss/angle": [0.3213, 0.3132, 1.026], "loss/width": [0.008454, 0.01146, 0.738], "loss/tolerance": "its loss is replaced (TopK)"}, "rise": {"loss/objectness": -0.087, "loss/view": -0.015, "loss/score": -0.031, "loss/angle": -0.061, "loss/width": -0.044, "loss/tolerance": -0.292}, "grasps_per_frame": [58, 54, 17, 16], "no_gradient": [], "unchanged": [], "score_median": [0.124, 0.1062, 0.09805, 0.0355], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__ohem-smooth-l1@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.tolerance_loss=ohem-smooth-l1 -o loss__Scale-Balanced-Grasp__ohem-smooth-l1@head.tolerance_loss.yaml", "config_hash": "a7e2dbd82ae85900", "run": "2026-10-17@c43ea39", "seconds": 130.5},
  {"id": "loss/GSNet/ohem@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=ohem", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.921x the reference (tolerance 1.25)", "loss/width 1.514x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.80x, loss/score 0.75x", "unstable: 1 of 250 iterations had no real seed (iteration 143)."], "terms": {"loss/objectness": "its loss is replaced (TopK)", "loss/graspness": [0.146, 0.07598, 1.921], "loss/view": [0.6764, 0.8476, 0.798], "loss/score": [0.02333, 0.0313, 0.745], "loss/width": [0.153, 0.101, 1.514]}, "rise": {"loss/objectness": -0.02, "loss/graspness": -0.16, "loss/view": 0.12, "loss/score": -0.107, "loss/width": -0.166}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06777, 0.07006, 0.07189, 0.07624], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__ohem@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=ohem -o loss__GSNet__ohem@proposal.objectness_loss.yaml", "config_hash": "146d5b68ea9fa52f", "run": "2026-10-17@c43ea39", "seconds": 147.3},
  {"id": "loss/EconomicGrasp/ohem@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=ohem", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1223, 0.1259, 0.971], "loss/graspness": [0.05501, 0.06338, 0.868], "loss/view": [0.8375, 0.8303, 1.009], "loss/angle": [1.606, 1.543, 1.041], "loss/depth": [0.8101, 0.7779, 1.041], "loss/score": "its loss is replaced (TopK)", "loss/width": [0.577, 0.5737, 1.006]}, "rise": {"loss/objectness": -0.154, "loss/graspness": -0.442, "loss/view": 0.038, "loss/angle": 0.062, "loss/depth": 0.06, "loss/score": 0.006, "loss/width": -0.133}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.2249, -0.2045, -0.2049, -0.2014], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__ohem@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=ohem -o loss__EconomicGrasp__ohem@head.score_loss.yaml", "config_hash": "d08a9446a382b7fb", "run": "2026-10-17@c43ea39", "seconds": 146.9},
  {"id": "loss/FineGrasp/ohem@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=ohem", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08786, 0.08986, 0.978], "loss/graspness": [0.04274, 0.04722, 0.905], "loss/view": [0.7462, 0.7334, 1.017], "loss/angle": [0.9495, 0.9369, 1.013], "loss/depth": [0.4442, 0.4363, 1.018], "loss/score": "its loss is replaced (TopK)", "loss/width": [0.3192, 0.3151, 1.013]}, "rise": {"loss/objectness": -0.147, "loss/graspness": -0.278, "loss/view": -0.019, "loss/angle": -0.182, "loss/depth": -0.155, "loss/score": -0.04, "loss/width": -0.215}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.4592, 0.1941, -0.5344, -0.3552], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__ohem@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=ohem -o loss__FineGrasp__ohem@head.score_loss.yaml", "config_hash": "2e84b6a9f6d496b6", "run": "2026-10-17@c43ea39", "seconds": 504.2},
  {"id": "loss/GraspNet-baseline/ohem@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=ohem", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.63x"], "terms": {"loss/objectness": [0.3717, 0.3739, 0.994], "loss/view": [0.02946, 0.02976, 0.99], "loss/score": [0.02203, 0.02246, 0.981], "loss/angle": "its loss is replaced (TopK)", "loss/width": [0.008083, 0.01289, 0.627], "loss/tolerance": [0.01776, 0.02008, 0.884]}, "rise": {"loss/objectness": -0.084, "loss/view": -0.037, "loss/score": -0.033, "loss/angle": -0.006, "loss/width": -0.228, "loss/tolerance": -0.302}, "grasps_per_frame": [452, 220, 541, 542], "no_gradient": [], "unchanged": [], "score_median": [0.1261, 0.07662, 0.1859, 0.1243], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__ohem@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=ohem -o loss__GraspNet-baseline__ohem@head.angle_loss.yaml", "config_hash": "8fb2c1f93063bc1d", "run": "2026-10-17@c43ea39", "seconds": 89.9},
  {"id": "loss/Scale-Balanced-Grasp/ohem@head.angle_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.angle_loss=ohem", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.42x"], "terms": {"loss/objectness": [0.1906, 0.1975, 0.965], "loss/view": [0.08207, 0.08244, 0.996], "loss/score": [0.01341, 0.01418, 0.945], "loss/angle": "its loss is replaced (TopK)", "loss/width": [0.004761, 0.01146, 0.416], "loss/tolerance": [0.006869, 0.007067, 0.972]}, "rise": {"loss/objectness": -0.107, "loss/view": -0.015, "loss/score": -0.056, "loss/angle": -0.005, "loss/width": -0.118, "loss/tolerance": -0.269}, "grasps_per_frame": [239, 187, 268, 133], "no_gradient": [], "unchanged": [], "score_median": [0.02922, -0.001732, 0.03203, 0.04142], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__ohem@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.angle_loss=ohem -o loss__Scale-Balanced-Grasp__ohem@head.angle_loss.yaml", "config_hash": "b45d4c8f9a654897", "run": "2026-10-17@c43ea39", "seconds": 130.4},
  {"id": "loss/GSNet/poly1@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=poly1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (Poly1CrossEntropy)", "loss/graspness": [0.07675, 0.07598, 1.01], "loss/view": [0.8336, 0.8476, 0.983], "loss/score": [0.02973, 0.0313, 0.95], "loss/width": [0.09982, 0.101, 0.988]}, "rise": {"loss/objectness": -0.145, "loss/graspness": -0.405, "loss/view": 0.24, "loss/score": 0.217, "loss/width": -0.073}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06118, 0.06581, 0.07186, 0.07266], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__poly1@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=poly1 -o loss__GSNet__poly1@proposal.objectness_loss.yaml", "config_hash": "a452c015239e1704", "run": "2026-10-17@c43ea39", "seconds": 151.7},
  {"id": "loss/EconomicGrasp/poly1@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=poly1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1373, 0.1259, 1.09], "loss/graspness": [0.07911, 0.06338, 1.248], "loss/view": [0.8259, 0.8303, 0.995], "loss/angle": [1.499, 1.543, 0.971], "loss/depth": [0.7507, 0.7779, 0.965], "loss/score": "its loss is replaced (Poly1CrossEntropy)", "loss/width": [0.567, 0.5737, 0.988]}, "rise": {"loss/objectness": -0.091, "loss/graspness": -0.354, "loss/view": 0.037, "loss/angle": 0.031, "loss/depth": 0.019, "loss/score": 0.032, "loss/width": -0.143}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.397, -2.121, -2.092, -1.714], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__poly1@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=poly1 -o loss__EconomicGrasp__poly1@head.score_loss.yaml", "config_hash": "bc40858b5fd86fe8", "run": "2026-10-17@c43ea39", "seconds": 147.4},
  {"id": "loss/FineGrasp/poly1@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=poly1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09303, 0.08986, 1.035], "loss/graspness": [0.05137, 0.04722, 1.088], "loss/view": [0.7527, 0.7334, 1.026], "loss/angle": [0.944, 0.9369, 1.008], "loss/depth": [0.4404, 0.4363, 1.009], "loss/score": "its loss is replaced (Poly1CrossEntropy)", "loss/width": [0.3279, 0.3151, 1.041]}, "rise": {"loss/objectness": -0.179, "loss/graspness": -0.268, "loss/view": -0.005, "loss/angle": -0.162, "loss/depth": -0.134, "loss/score": -0.109, "loss/width": -0.213}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-4.28, -3.736, -3.946, -4.103], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__poly1@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=poly1 -o loss__FineGrasp__poly1@head.score_loss.yaml", "config_hash": "7573b2d0deff1705", "run": "2026-10-17@c43ea39", "seconds": 508.4},
  {"id": "loss/GraspNet-baseline/poly1@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=poly1", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.465x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3649, 0.3739, 0.976], "loss/view": [0.0298, 0.02976, 1.001], "loss/score": [0.02191, 0.02246, 0.975], "loss/angle": "its loss is replaced (Poly1CrossEntropy)", "loss/width": [0.01888, 0.01289, 1.465], "loss/tolerance": [0.02199, 0.02008, 1.095]}, "rise": {"loss/objectness": -0.067, "loss/view": -0.044, "loss/score": -0.013, "loss/angle": -0.047, "loss/width": -0.108, "loss/tolerance": -0.277}, "grasps_per_frame": [404, 344, 576, 442], "no_gradient": [], "unchanged": [], "score_median": [0.08397, 0.06341, 0.09266, 0.1248], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__poly1@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=poly1 -o loss__GraspNet-baseline__poly1@head.angle_loss.yaml", "config_hash": "ea817ebf68af7156", "run": "2026-10-17@c43ea39", "seconds": 89.4},
  {"id": "loss/Scale-Balanced-Grasp/poly1@head.angle_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.angle_loss=poly1", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1882, 0.1975, 0.953], "loss/view": [0.08198, 0.08244, 0.994], "loss/score": [0.01427, 0.01418, 1.007], "loss/angle": "its loss is replaced (Poly1CrossEntropy)", "loss/width": [0.01026, 0.01146, 0.896], "loss/tolerance": [0.00657, 0.007067, 0.93]}, "rise": {"loss/objectness": -0.09, "loss/view": -0.016, "loss/score": 0.028, "loss/angle": -0.057, "loss/width": -0.15, "loss/tolerance": -0.347}, "grasps_per_frame": [217, 147, 183, 160], "no_gradient": [], "unchanged": [], "score_median": [0.01692, 0.01185, 0.02746, 0.05113], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__poly1@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.angle_loss=poly1 -o loss__Scale-Balanced-Grasp__poly1@head.angle_loss.yaml", "config_hash": "4c27828420f331c9", "run": "2026-10-17@c43ea39", "seconds": 129.9},
  {"id": "loss/GSNet/quality-focal@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=quality-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1571, 0.1562, 1.006], "loss/graspness": [0.07218, 0.07598, 0.95], "loss/view": [0.8566, 0.8476, 1.011], "loss/score": "its loss is replaced (QualityFocal)", "loss/width": [0.1053, 0.101, 1.042]}, "rise": {"loss/objectness": -0.207, "loss/graspness": -0.398, "loss/view": 0.223, "loss/score": 0.379, "loss/width": -0.105}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1367, 0.1458, 0.1498, 0.156], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__quality-focal@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=quality-focal -o loss__GSNet__quality-focal@head.score_loss.yaml", "config_hash": "d158931ca79a34b6", "run": "2026-10-17@c43ea39", "seconds": 143.6},
  {"id": "loss/EconomicGrasp/quality-focal@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=quality-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.72x, loss/depth 0.75x, loss/score 0.72x"], "terms": {"loss/objectness": [0.1252, 0.1259, 0.994], "loss/graspness": [0.05599, 0.06338, 0.883], "loss/view": "its loss is replaced (QualityFocal)", "loss/angle": [1.113, 1.543, 0.721], "loss/depth": [0.5814, 0.7779, 0.747], "loss/score": [0.9462, 1.31, 0.723], "loss/width": [0.6735, 0.5737, 1.174]}, "rise": {"loss/objectness": -0.158, "loss/graspness": -0.485, "loss/view": -0.035, "loss/angle": 0.034, "loss/depth": 0.014, "loss/score": 0.037, "loss/width": -0.06}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.979, -2.906, -2.908, -2.72], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__quality-focal@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=quality-focal -o loss__EconomicGrasp__quality-focal@view.loss.yaml", "config_hash": "0e82a3c44c62d58f", "run": "2026-10-17@c43ea39", "seconds": 165.7},
  {"id": "loss/FineGrasp/quality-focal@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=quality-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08663, 0.08986, 0.964], "loss/graspness": [0.04121, 0.04722, 0.873], "loss/view": "its loss is replaced (QualityFocal)", "loss/angle": [0.8401, 0.9369, 0.897], "loss/depth": [0.3903, 0.4363, 0.894], "loss/score": [0.6937, 0.8125, 0.854], "loss/width": [0.3728, 0.3151, 1.183]}, "rise": {"loss/objectness": -0.201, "loss/graspness": -0.415, "loss/view": -0.168, "loss/angle": -0.13, "loss/depth": -0.183, "loss/score": -0.159, "loss/width": -0.327}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.239, -0.5892, -2.056, -0.657], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__quality-focal@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=quality-focal -o loss__FineGrasp__quality-focal@view.loss.yaml", "config_hash": "4cd5d7a848b9b3b1", "run": "2026-10-17@c43ea39", "seconds": 510.0},
  {"id": "loss/GSNet/softmax-focal@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=softmax-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced ({\"alpha\": null, \"gamma\": 2.0, \"type\": \"SoftmaxFocalLoss\", \"weight\": 1.0})", "loss/graspness": [0.08449, 0.07598, 1.112], "loss/view": [0.8431, 0.8476, 0.995], "loss/score": [0.02945, 0.0313, 0.941], "loss/width": [0.1033, 0.101, 1.022]}, "rise": {"loss/objectness": -0.183, "loss/graspness": -0.383, "loss/view": 0.29, "loss/score": 0.187, "loss/width": -0.105}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.067, 0.07301, 0.07145, 0.07157], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__softmax-focal@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=softmax-focal -o loss__GSNet__softmax-focal@proposal.objectness_loss.yaml", "config_hash": "f38182f1d6a0a581", "run": "2026-10-17@c43ea39", "seconds": 139.7},
  {"id": "loss/EconomicGrasp/softmax-focal@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=softmax-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1304, 0.1259, 1.036], "loss/graspness": [0.07125, 0.06338, 1.124], "loss/view": [0.828, 0.8303, 0.997], "loss/angle": [1.477, 1.543, 0.957], "loss/depth": [0.7434, 0.7779, 0.956], "loss/score": "its loss is replaced ({\"alpha\": null, \"gamma\": 2.0, \"type\": \"SoftmaxFocalLoss\", \"weight\": 1.0})", "loss/width": [0.5703, 0.5737, 0.994]}, "rise": {"loss/objectness": -0.131, "loss/graspness": -0.365, "loss/view": 0.034, "loss/angle": 0.012, "loss/depth": 0.004, "loss/score": 0.028, "loss/width": -0.125}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.638, -1.223, -1.154, -0.9188], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__softmax-focal@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=softmax-focal -o loss__EconomicGrasp__softmax-focal@head.score_loss.yaml", "config_hash": "26e26273e86a8e4c", "run": "2026-10-17@c43ea39", "seconds": 150.3},
  {"id": "loss/FineGrasp/softmax-focal@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=softmax-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09135, 0.08986, 1.017], "loss/graspness": [0.04466, 0.04722, 0.946], "loss/view": [0.7465, 0.7334, 1.018], "loss/angle": [0.916, 0.9369, 0.978], "loss/depth": [0.4414, 0.4363, 1.012], "loss/score": "its loss is replaced ({\"alpha\": null, \"gamma\": 2.0, \"type\": \"SoftmaxFocalLoss\", \"weight\": 1.0})", "loss/width": [0.3168, 0.3151, 1.005]}, "rise": {"loss/objectness": -0.16, "loss/graspness": -0.265, "loss/view": -0.025, "loss/angle": -0.187, "loss/depth": -0.151, "loss/score": -0.178, "loss/width": -0.234}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.46, -1.027, -1.122, -1.463], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__softmax-focal@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=softmax-focal -o loss__FineGrasp__softmax-focal@head.score_loss.yaml", "config_hash": "f5f4c3558dcb1530", "run": "2026-10-17@c43ea39", "seconds": 507.5},
  {"id": "loss/GraspNet-baseline/softmax-focal@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=softmax-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3711, 0.3739, 0.993], "loss/view": [0.02961, 0.02976, 0.995], "loss/score": [0.02198, 0.02246, 0.978], "loss/angle": "its loss is replaced ({\"alpha\": null, \"gamma\": 2.0, \"type\": \"SoftmaxFocalLoss\", \"weight\": 0.2})", "loss/width": [0.01336, 0.01289, 1.036], "loss/tolerance": [0.02016, 0.02008, 1.004]}, "rise": {"loss/objectness": -0.079, "loss/view": -0.03, "loss/score": -0.035, "loss/angle": -0.078, "loss/width": -0.231, "loss/tolerance": -0.325}, "grasps_per_frame": [520, 232, 473, 453], "no_gradient": [], "unchanged": [], "score_median": [0.09632, 0.1562, 0.08994, 0.08088], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__softmax-focal@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=softmax-focal -o loss__GraspNet-baseline__softmax-focal@head.angle_loss.yaml", "config_hash": "38c4602d1197d5dc", "run": "2026-10-17@c43ea39", "seconds": 88.5},
  {"id": "loss/Scale-Balanced-Grasp/softmax-focal@head.angle_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.angle_loss=softmax-focal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1852, 0.1975, 0.938], "loss/view": [0.08227, 0.08244, 0.998], "loss/score": [0.01341, 0.01418, 0.945], "loss/angle": "its loss is replaced ({\"alpha\": null, \"gamma\": 2.0, \"type\": \"SoftmaxFocalLoss\", \"weight\": 0.2})", "loss/width": [0.01036, 0.01146, 0.904], "loss/tolerance": [0.006244, 0.007067, 0.884]}, "rise": {"loss/objectness": -0.109, "loss/view": -0.017, "loss/score": -0.048, "loss/angle": -0.1, "loss/width": -0.151, "loss/tolerance": -0.352}, "grasps_per_frame": [264, 232, 221, 152], "no_gradient": [], "unchanged": [], "score_median": [0.04554, 0.03473, 0.05484, 0.06367], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__softmax-focal@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.angle_loss=softmax-focal -o loss__Scale-Balanced-Grasp__softmax-focal@head.angle_loss.yaml", "config_hash": "7fffc8afcb73ca8c", "run": "2026-10-17@c43ea39", "seconds": 131.2},
  {"id": "loss/GSNet/uncertainty-weighting@proposal.objectness_loss", "kind": "loss", "method": "GSNet", "option": "proposal.objectness_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": "its loss is replaced (UncertaintyWeighted)", "loss/graspness": [0.07616, 0.07598, 1.002], "loss/view": [0.8297, 0.8476, 0.979], "loss/score": [0.03099, 0.0313, 0.99], "loss/width": [0.09979, 0.101, 0.988]}, "rise": {"loss/graspness": -0.358, "loss/view": 0.185, "loss/score": 0.225, "loss/width": -0.084}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07197, 0.07198, 0.07713, 0.08354], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__uncertainty-weighting@proposal.objectness_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set proposal.objectness_loss=uncertainty-weighting -o loss__GSNet__uncertainty-weighting@proposal.objectness_loss.yaml", "config_hash": "9f5e731baaa833f7", "run": "2026-10-17@c43ea39", "seconds": 138.8},
  {"id": "loss/GSNet/uncertainty-weighting@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1587, 0.1562, 1.016], "loss/graspness": [0.08201, 0.07598, 1.079], "loss/view": [0.8228, 0.8476, 0.971], "loss/score": "its loss is replaced (UncertaintyWeighted)", "loss/width": [0.09835, 0.101, 0.973]}, "rise": {"loss/objectness": -0.202, "loss/graspness": -0.359, "loss/view": 0.199, "loss/width": -0.089}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06327, 0.06534, 0.06441, 0.06686], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__uncertainty-weighting@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=uncertainty-weighting -o loss__GSNet__uncertainty-weighting@head.score_loss.yaml", "config_hash": "a6b1ff91bb8e04f4", "run": "2026-10-17@c43ea39", "seconds": 136.3},
  {"id": "loss/GSNet/uncertainty-weighting@head.width_loss", "kind": "loss", "method": "GSNet", "option": "head.width_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1545, 0.1562, 0.989], "loss/graspness": [0.08274, 0.07598, 1.089], "loss/view": [0.8189, 0.8476, 0.966], "loss/score": [0.03023, 0.0313, 0.966], "loss/width": "its loss is replaced (UncertaintyWeighted)"}, "rise": {"loss/objectness": -0.21, "loss/graspness": -0.332, "loss/view": 0.194, "loss/score": 0.218}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06684, 0.07114, 0.07346, 0.06916], "checked": [13, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__uncertainty-weighting@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.width_loss=uncertainty-weighting -o loss__GSNet__uncertainty-weighting@head.width_loss.yaml", "config_hash": "e006a0ec45970a3f", "run": "2026-10-17@c43ea39", "seconds": 139.3},
  {"id": "loss/EconomicGrasp/uncertainty-weighting@head.score_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.score_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1263, 0.1259, 1.004], "loss/graspness": [0.06282, 0.06338, 0.991], "loss/view": [0.8309, 0.8303, 1.001], "loss/angle": [1.596, 1.543, 1.034], "loss/depth": [0.8004, 0.7779, 1.029], "loss/score": "its loss is replaced (UncertaintyWeighted)", "loss/width": [0.5588, 0.5737, 0.974]}, "rise": {"loss/objectness": -0.139, "loss/graspness": -0.391, "loss/view": 0.034, "loss/angle": 0.036, "loss/depth": 0.024, "loss/score": 0.003, "loss/width": -0.128}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.827, -1.303, -1.085, -0.5812], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__uncertainty-weighting@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.score_loss=uncertainty-weighting -o loss__EconomicGrasp__uncertainty-weighting@head.score_loss.yaml", "config_hash": "ba858dbe2cc3fced", "run": "2026-10-17@c43ea39", "seconds": 152.2},
  {"id": "loss/EconomicGrasp/uncertainty-weighting@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1329, 0.1259, 1.056], "loss/graspness": [0.06745, 0.06338, 1.064], "loss/view": "its loss is replaced (UncertaintyWeighted)", "loss/angle": [1.544, 1.543, 1.0], "loss/depth": [0.7754, 0.7779, 0.997], "loss/score": [1.295, 1.31, 0.989], "loss/width": [0.5708, 0.5737, 0.995]}, "rise": {"loss/objectness": -0.126, "loss/graspness": -0.355, "loss/view": 0.047, "loss/angle": 0.023, "loss/depth": 0.019, "loss/score": 0.018, "loss/width": -0.11}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.672, -2.504, -2.301, -2.306], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__uncertainty-weighting@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=uncertainty-weighting -o loss__EconomicGrasp__uncertainty-weighting@view.loss.yaml", "config_hash": "477ed7e5f3e6c3bd", "run": "2026-10-17@c43ea39", "seconds": 158.6},
  {"id": "loss/EconomicGrasp/uncertainty-weighting@head.width_loss", "kind": "loss", "method": "EconomicGrasp", "option": "head.width_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1314, 0.1259, 1.044], "loss/graspness": [0.06693, 0.06338, 1.056], "loss/view": [0.84, 0.8303, 1.012], "loss/angle": [1.526, 1.543, 0.989], "loss/depth": [0.7724, 0.7779, 0.993], "loss/score": [1.295, 1.31, 0.989], "loss/width": "its loss is replaced (UncertaintyWeighted)"}, "rise": {"loss/objectness": -0.124, "loss/graspness": -0.377, "loss/view": 0.035, "loss/angle": 0.018, "loss/depth": 0.01, "loss/score": 0.022, "loss/width": -0.246}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.01, -0.8052, -0.9224, -0.4244], "checked": [16, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__uncertainty-weighting@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set head.width_loss=uncertainty-weighting -o loss__EconomicGrasp__uncertainty-weighting@head.width_loss.yaml", "config_hash": "cdfcaccaaf39f371", "run": "2026-10-17@c43ea39", "seconds": 149.4},
  {"id": "loss/FineGrasp/uncertainty-weighting@head.score_loss", "kind": "loss", "method": "FineGrasp", "option": "head.score_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09219, 0.08986, 1.026], "loss/graspness": [0.0458, 0.04722, 0.97], "loss/view": [0.7389, 0.7334, 1.008], "loss/angle": [0.9483, 0.9369, 1.012], "loss/depth": [0.4435, 0.4363, 1.016], "loss/score": "its loss is replaced (UncertaintyWeighted)", "loss/width": [0.3213, 0.3151, 1.02]}, "rise": {"loss/objectness": -0.147, "loss/graspness": -0.28, "loss/view": -0.028, "loss/angle": -0.142, "loss/depth": -0.116, "loss/score": -0.189, "loss/width": -0.207}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.408, -0.9866, -2.582, -1.454], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__uncertainty-weighting@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.score_loss=uncertainty-weighting -o loss__FineGrasp__uncertainty-weighting@head.score_loss.yaml", "config_hash": "4b5b84e50fecb250", "run": "2026-10-17@c43ea39", "seconds": 507.7},
  {"id": "loss/FineGrasp/uncertainty-weighting@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08976, 0.08986, 0.999], "loss/graspness": [0.04384, 0.04722, 0.928], "loss/view": "its loss is replaced (UncertaintyWeighted)", "loss/angle": [0.9232, 0.9369, 0.985], "loss/depth": [0.431, 0.4363, 0.988], "loss/score": [0.8052, 0.8125, 0.991], "loss/width": [0.3162, 0.3151, 1.004]}, "rise": {"loss/objectness": -0.157, "loss/graspness": -0.269, "loss/view": -0.082, "loss/angle": -0.159, "loss/depth": -0.132, "loss/score": -0.112, "loss/width": -0.211}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.805, -0.5475, -1.622, -1.641], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__uncertainty-weighting@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=uncertainty-weighting -o loss__FineGrasp__uncertainty-weighting@view.loss.yaml", "config_hash": "25ae7aa1be30a8fe", "run": "2026-10-17@c43ea39", "seconds": 506.9},
  {"id": "loss/FineGrasp/uncertainty-weighting@head.width_loss", "kind": "loss", "method": "FineGrasp", "option": "head.width_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08781, 0.08986, 0.977], "loss/graspness": [0.04786, 0.04722, 1.014], "loss/view": [0.7441, 0.7334, 1.015], "loss/angle": [0.9388, 0.9369, 1.002], "loss/depth": [0.4467, 0.4363, 1.024], "loss/score": [0.8152, 0.8125, 1.003], "loss/width": "its loss is replaced (UncertaintyWeighted)"}, "rise": {"loss/objectness": -0.172, "loss/graspness": -0.26, "loss/view": -0.01, "loss/angle": -0.178, "loss/depth": -0.142, "loss/score": -0.138, "loss/width": -1.183}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.2691, 0.3107, -0.2462, -0.4972], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__uncertainty-weighting@head.width_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set head.width_loss=uncertainty-weighting -o loss__FineGrasp__uncertainty-weighting@head.width_loss.yaml", "config_hash": "0ec9418a51ffcca0", "run": "2026-10-17@c43ea39", "seconds": 507.4},
  {"id": "loss/GraspNet-baseline/uncertainty-weighting@head.angle_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.angle_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.367, 0.3739, 0.982], "loss/view": [0.0297, 0.02976, 0.998], "loss/score": [0.02143, 0.02246, 0.954], "loss/angle": "its loss is replaced (UncertaintyWeighted)", "loss/width": [0.01384, 0.01289, 1.073], "loss/tolerance": [0.01975, 0.02008, 0.984]}, "rise": {"loss/objectness": -0.09, "loss/view": -0.036, "loss/score": -0.074, "loss/width": -0.173, "loss/tolerance": -0.349}, "grasps_per_frame": [433, 331, 523, 442], "no_gradient": [], "unchanged": [], "score_median": [0.09588, 0.01027, 0.0692, 0.07176], "checked": [15, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__uncertainty-weighting@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.angle_loss=uncertainty-weighting -o loss__GraspNet-baseline__uncertainty-weighting@head.angle_loss.yaml", "config_hash": "b828cab40a2f96f6", "run": "2026-10-17@c43ea39", "seconds": 89.4},
  {"id": "loss/GraspNet-baseline/uncertainty-weighting@head.tolerance_loss", "kind": "loss", "method": "GraspNet-baseline", "option": "head.tolerance_loss=uncertainty-weighting", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3625, 0.3739, 0.97], "loss/view": [0.02962, 0.02976, 0.995], "loss/score": [0.02249, 0.02246, 1.001], "loss/angle": [0.3238, 0.3337, 0.971], "loss/width": [0.01261, 0.01289, 0.978], "loss/tolerance": "its loss is replaced (UncertaintyWeighted)"}, "rise": {"loss/objectness": -0.098, "loss/view": -0.041, "loss/score": -0.024, "loss/angle": -0.051, "loss/width": -0.249}, "grasps_per_frame": [494, 444, 496, 473], "no_gradient": [], "unchanged": [], "score_median": [0.1267, 0.1144, 0.1558, 0.1579], "checked": [15, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GraspNet-baseline__uncertainty-weighting@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set head.tolerance_loss=uncertainty-weighting -o loss__GraspNet-baseline__uncertainty-weighting@head.tolerance_loss.yaml", "config_hash": "a620a825e51bc8d6", "run": "2026-10-17@c43ea39", "seconds": 88.8},
  {"id": "loss/Scale-Balanced-Grasp/uncertainty-weighting@head.angle_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.angle_loss=uncertainty-weighting", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1886, 0.1975, 0.955], "loss/view": [0.08228, 0.08244, 0.998], "loss/score": [0.01364, 0.01418, 0.962], "loss/angle": "its loss is replaced (UncertaintyWeighted)", "loss/width": [0.01409, 0.01146, 1.23], "loss/tolerance": [0.007307, 0.007067, 1.034]}, "rise": {"loss/objectness": -0.094, "loss/view": -0.018, "loss/score": -0.022, "loss/width": -0.077, "loss/tolerance": -0.25}, "grasps_per_frame": [187, 174, 127, 58], "no_gradient": [], "unchanged": [], "score_median": [0.04858, 0.03844, 0.0742, 0.06398], "checked": [15, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__uncertainty-weighting@head.angle_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.angle_loss=uncertainty-weighting -o loss__Scale-Balanced-Grasp__uncertainty-weighting@head.angle_loss.yaml", "config_hash": "748c2b24302ba88c", "run": "2026-10-17@c43ea39", "seconds": 135.7},
  {"id": "loss/Scale-Balanced-Grasp/uncertainty-weighting@head.tolerance_loss", "kind": "loss", "method": "Scale-Balanced-Grasp", "option": "head.tolerance_loss=uncertainty-weighting", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1836, 0.1975, 0.93], "loss/view": [0.0819, 0.08244, 0.993], "loss/score": [0.01365, 0.01418, 0.962], "loss/angle": [0.3149, 0.3132, 1.005], "loss/width": [0.009936, 0.01146, 0.867], "loss/tolerance": "its loss is replaced (UncertaintyWeighted)"}, "rise": {"loss/objectness": -0.094, "loss/view": -0.016, "loss/score": -0.046, "loss/angle": -0.064, "loss/width": -0.101}, "grasps_per_frame": [34, 56, 23, 30], "no_gradient": [], "unchanged": [], "score_median": [0.05579, 0.1122, 0.05055, 0.02546], "checked": [15, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__Scale-Balanced-Grasp__uncertainty-weighting@head.tolerance_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set head.tolerance_loss=uncertainty-weighting -o loss__Scale-Balanced-Grasp__uncertainty-weighting@head.tolerance_loss.yaml", "config_hash": "338570a522da99b3", "run": "2026-10-17@c43ea39", "seconds": 130.9},
  {"id": "loss/GSNet/varifocal@head.score_loss", "kind": "loss", "method": "GSNet", "option": "head.score_loss=varifocal", "level1": "runs", "outcome": "diverging", "reasons": ["loss/score rises +43 % over the last half; the reference +20 %"], "terms": {"loss/objectness": [0.1596, 0.1562, 1.022], "loss/graspness": [0.07388, 0.07598, 0.972], "loss/view": [0.8362, 0.8476, 0.987], "loss/score": "its loss is replaced (Varifocal)", "loss/width": [0.1022, 0.101, 1.012]}, "rise": {"loss/objectness": -0.201, "loss/graspness": -0.353, "loss/view": 0.178, "loss/score": 0.425, "loss/width": -0.082}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.2096, 0.2173, 0.2298, 0.234], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__GSNet__varifocal@head.score_loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set head.score_loss=varifocal -o loss__GSNet__varifocal@head.score_loss.yaml", "config_hash": "3165e5d5e3b11ca7", "run": "2026-10-17@c43ea39", "seconds": 147.3},
  {"id": "loss/EconomicGrasp/varifocal@view.loss", "kind": "loss", "method": "EconomicGrasp", "option": "view.loss=varifocal", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.75x, loss/depth 0.78x, loss/score 0.75x"], "terms": {"loss/objectness": [0.1225, 0.1259, 0.973], "loss/graspness": [0.05762, 0.06338, 0.909], "loss/view": "its loss is replaced (Varifocal)", "loss/angle": [1.154, 1.543, 0.748], "loss/depth": [0.6053, 0.7779, 0.778], "loss/score": [0.985, 1.31, 0.752], "loss/width": [0.6878, 0.5737, 1.199]}, "rise": {"loss/objectness": -0.166, "loss/graspness": -0.452, "loss/view": 0.104, "loss/angle": 0.049, "loss/depth": 0.026, "loss/score": 0.054, "loss/width": -0.055}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.071, -1.882, -1.578, -1.26], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe loss__EconomicGrasp__varifocal@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set view.loss=varifocal -o loss__EconomicGrasp__varifocal@view.loss.yaml", "config_hash": "418dcfed3104ee9e", "run": "2026-10-17@c43ea39", "seconds": 148.1},
  {"id": "loss/FineGrasp/varifocal@view.loss", "kind": "loss", "method": "FineGrasp", "option": "view.loss=varifocal", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08785, 0.08986, 0.978], "loss/graspness": [0.04312, 0.04722, 0.913], "loss/view": "its loss is replaced (Varifocal)", "loss/angle": [0.8251, 0.9369, 0.881], "loss/depth": [0.3905, 0.4363, 0.895], "loss/score": [0.6891, 0.8125, 0.848], "loss/width": [0.3543, 0.3151, 1.125]}, "rise": {"loss/objectness": -0.194, "loss/graspness": -0.31, "loss/view": -0.003, "loss/angle": -0.104, "loss/depth": -0.109, "loss/score": -0.105, "loss/width": -0.258}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.02, -1.413, -2.323, -2.292], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe loss__FineGrasp__varifocal@view.loss.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set view.loss=varifocal -o loss__FineGrasp__varifocal@view.loss.yaml", "config_hash": "6e5bbb09b3d4b8fa", "run": "2026-10-17@c43ea39", "seconds": 508.0},
  {"id": "recipe/GSNet/optimizer/adamw-no-decay-1d", "kind": "recipe", "method": "GSNet", "option": "optimizer=adamw-no-decay-1d", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1554, 0.1562, 0.995], "loss/graspness": [0.0755, 0.07598, 0.994], "loss/view": [0.8351, 0.8476, 0.985], "loss/score": [0.03113, 0.0313, 0.995], "loss/width": [0.09862, 0.101, 0.976]}, "rise": {"loss/objectness": -0.21, "loss/graspness": -0.357, "loss/view": 0.188, "loss/score": 0.225, "loss/width": -0.082}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0642, 0.06744, 0.06713, 0.07134], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__adamw-no-decay-1d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=adamw-no-decay-1d -o recipe__GSNet__optimizer__adamw-no-decay-1d.yaml", "config_hash": "de078c900661b267", "run": "2026-10-16@1c8fd45", "seconds": 141.3},
  {"id": "recipe/EconomicGrasp/optimizer/adamw-no-decay-1d", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=adamw-no-decay-1d", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1293, 0.1259, 1.027], "loss/graspness": [0.06591, 0.06338, 1.04], "loss/view": [0.8432, 0.8303, 1.016], "loss/angle": [1.552, 1.543, 1.005], "loss/depth": [0.7879, 0.7779, 1.013], "loss/score": [1.319, 1.31, 1.007], "loss/width": [0.5712, 0.5737, 0.996]}, "rise": {"loss/objectness": -0.142, "loss/graspness": -0.414, "loss/view": 0.054, "loss/angle": 0.017, "loss/depth": 0.005, "loss/score": 0.019, "loss/width": -0.114}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.366, -2.295, -2.264, -1.337], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__adamw-no-decay-1d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=adamw-no-decay-1d -o recipe__EconomicGrasp__optimizer__adamw-no-decay-1d.yaml", "config_hash": "8683312c6bdcd0dc", "run": "2026-10-16@1c8fd45", "seconds": 150.4},
  {"id": "recipe/FineGrasp/optimizer/adamw-no-decay-1d", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=adamw-no-decay-1d", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.701x the reference (tolerance 1.25)", "loss/graspness 2.002x the reference (tolerance 1.25)", "loss/width 1.684x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1529, 0.08986, 1.701], "loss/graspness": [0.09454, 0.04722, 2.002], "loss/view": [0.7389, 0.7334, 1.007], "loss/angle": [1.157, 0.9369, 1.234], "loss/depth": [0.5421, 0.4363, 1.242], "loss/score": [0.9597, 0.8125, 1.181], "loss/width": [0.5307, 0.3151, 1.684]}, "rise": {"loss/objectness": -0.501, "loss/graspness": -0.267, "loss/view": -0.028, "loss/angle": 0.065, "loss/depth": 0.005, "loss/score": 0.038, "loss/width": -0.169}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.323, -1.036, -1.217, -0.7757], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__adamw-no-decay-1d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=adamw-no-decay-1d -o recipe__FineGrasp__optimizer__adamw-no-decay-1d.yaml", "config_hash": "e1a7ba0b3d1f3131", "run": "2026-10-16@1c8fd45", "seconds": 578.7},
  {"id": "recipe/GraspNet-baseline/optimizer/adamw-no-decay-1d", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=adamw-no-decay-1d", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3531, 0.3739, 0.944], "loss/view": [0.02957, 0.02976, 0.994], "loss/score": [0.02199, 0.02246, 0.979], "loss/angle": [0.3255, 0.3337, 0.976], "loss/width": [0.01241, 0.01289, 0.962], "loss/tolerance": [0.02042, 0.02008, 1.017]}, "rise": {"loss/objectness": -0.083, "loss/view": -0.042, "loss/score": -0.033, "loss/angle": -0.053, "loss/width": -0.147, "loss/tolerance": -0.263}, "grasps_per_frame": [414, 359, 473, 344], "no_gradient": [], "unchanged": [], "score_median": [0.1364, 0.264, 0.2644, 0.1427], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__adamw-no-decay-1d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=adamw-no-decay-1d -o recipe__GraspNet-baseline__optimizer__adamw-no-decay-1d.yaml", "config_hash": "349c00a4b9d8a50e", "run": "2026-10-16@1c8fd45", "seconds": 87.5},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/adamw-no-decay-1d", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=adamw-no-decay-1d", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1786, 0.1975, 0.904], "loss/view": [0.08156, 0.08244, 0.989], "loss/score": [0.013, 0.01418, 0.916], "loss/angle": [0.3194, 0.3132, 1.02], "loss/width": [0.01014, 0.01146, 0.885], "loss/tolerance": [0.006512, 0.007067, 0.921]}, "rise": {"loss/objectness": -0.101, "loss/view": -0.017, "loss/score": -0.068, "loss/angle": -0.06, "loss/width": 0.019, "loss/tolerance": -0.311}, "grasps_per_frame": [84, 87, 76, 44], "no_gradient": [], "unchanged": [], "score_median": [0.02113, 0.02365, 0.02956, 0.01211], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__adamw-no-decay-1d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=adamw-no-decay-1d -o recipe__Scale-Balanced-Grasp__optimizer__adamw-no-decay-1d.yaml", "config_hash": "f77b262f0d78b160", "run": "2026-10-16@1c8fd45", "seconds": 123.1},
  {"id": "recipe/HGGD/optimizer/adamw-no-decay-1d", "kind": "recipe", "method": "HGGD", "option": "optimizer=adamw-no-decay-1d", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 2.079x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.46, 1.405, 1.04], "loss/angle": [1.368, 0.6582, 2.079], "loss/offsets": [0.2926, 0.2157, 1.357], "loss/anchor": [0.888, 0.7677, 1.157], "loss/anchor_offset": [0.2088, 0.1935, 1.079]}, "rise": {"loss/heatmap": -0.039, "loss/angle": -0.679, "loss/offsets": -0.071, "loss/anchor": -0.094, "loss/anchor_offset": -0.006}, "grasps_per_frame": [465, 437, 467, 453], "no_gradient": [], "unchanged": [], "score_median": [0.1758, 0.1738, 0.1742, 0.1671], "checked": [17, 2], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__HGGD__optimizer__adamw-no-decay-1d.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=adamw-no-decay-1d -o recipe__HGGD__optimizer__adamw-no-decay-1d.yaml", "config_hash": "624724c2bda22755", "run": "2026-10-16@1c8fd45", "seconds": 190.8},
  {"id": "recipe/GSNet/optimizer/adamw", "kind": "recipe", "method": "GSNet", "option": "optimizer=adamw", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1581, 0.1562, 1.012], "loss/graspness": [0.07319, 0.07598, 0.963], "loss/view": [0.842, 0.8476, 0.993], "loss/score": [0.03025, 0.0313, 0.966], "loss/width": [0.1002, 0.101, 0.992]}, "rise": {"loss/objectness": -0.211, "loss/graspness": -0.381, "loss/view": 0.221, "loss/score": 0.271, "loss/width": -0.068}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06948, 0.06656, 0.06772, 0.06728], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=adamw -o recipe__GSNet__optimizer__adamw.yaml", "config_hash": "5f1621cbaaca582c", "run": "2026-10-16@1c8fd45", "seconds": 139.0},
  {"id": "recipe/EconomicGrasp/optimizer/adamw", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=adamw", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1279, 0.1259, 1.016], "loss/graspness": [0.06153, 0.06338, 0.971], "loss/view": [0.8323, 0.8303, 1.003], "loss/angle": [1.572, 1.543, 1.019], "loss/depth": [0.7958, 0.7779, 1.023], "loss/score": [1.331, 1.31, 1.016], "loss/width": [0.5449, 0.5737, 0.95]}, "rise": {"loss/objectness": -0.143, "loss/graspness": -0.374, "loss/view": 0.026, "loss/angle": 0.037, "loss/depth": 0.028, "loss/score": 0.04, "loss/width": -0.152}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.901, -1.637, -1.615, -0.161], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=adamw -o recipe__EconomicGrasp__optimizer__adamw.yaml", "config_hash": "54d4d9757dde8996", "run": "2026-10-16@1c8fd45", "seconds": 139.2},
  {"id": "recipe/FineGrasp/optimizer/adamw", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=adamw", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.642x the reference (tolerance 1.25)", "loss/graspness 2.075x the reference (tolerance 1.25)", "loss/angle 1.266x the reference (tolerance 1.25)", "loss/depth 1.258x the reference (tolerance 1.25)", "loss/width 1.682x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1476, 0.08986, 1.642], "loss/graspness": [0.098, 0.04722, 2.075], "loss/view": [0.7257, 0.7334, 0.989], "loss/angle": [1.187, 0.9369, 1.266], "loss/depth": [0.549, 0.4363, 1.258], "loss/score": [0.9775, 0.8125, 1.203], "loss/width": [0.5301, 0.3151, 1.682]}, "rise": {"loss/objectness": -0.516, "loss/graspness": -0.285, "loss/view": -0.042, "loss/angle": 0.065, "loss/depth": 0.002, "loss/score": 0.035, "loss/width": -0.195}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.244, -1.078, -1.21, -0.9308], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=adamw -o recipe__FineGrasp__optimizer__adamw.yaml", "config_hash": "563e330b532e2888", "run": "2026-10-16@1c8fd45", "seconds": 575.5},
  {"id": "recipe/GraspNet-baseline/optimizer/adamw", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=adamw", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.369, 0.3739, 0.987], "loss/view": [0.02997, 0.02976, 1.007], "loss/score": [0.02297, 0.02246, 1.022], "loss/angle": [0.3265, 0.3337, 0.978], "loss/width": [0.01256, 0.01289, 0.974], "loss/tolerance": [0.0218, 0.02008, 1.086]}, "rise": {"loss/objectness": -0.084, "loss/view": -0.039, "loss/score": -0.024, "loss/angle": -0.058, "loss/width": -0.209, "loss/tolerance": -0.333}, "grasps_per_frame": [348, 387, 417, 288], "no_gradient": [], "unchanged": [], "score_median": [0.2714, 0.2256, 0.2516, 0.2027], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=adamw -o recipe__GraspNet-baseline__optimizer__adamw.yaml", "config_hash": "0031d5194a77e514", "run": "2026-10-16@1c8fd45", "seconds": 87.3},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/adamw", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=adamw", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/width 1.273x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1925, 0.1975, 0.975], "loss/view": [0.0819, 0.08244, 0.993], "loss/score": [0.01293, 0.01418, 0.912], "loss/angle": [0.3153, 0.3132, 1.007], "loss/width": [0.01458, 0.01146, 1.273], "loss/tolerance": [0.00695, 0.007067, 0.984]}, "rise": {"loss/objectness": -0.077, "loss/view": -0.017, "loss/score": -0.083, "loss/angle": -0.07, "loss/width": 0.182, "loss/tolerance": -0.268}, "grasps_per_frame": [254, 211, 179, 135], "no_gradient": [], "unchanged": [], "score_median": [0.0407, 0.05981, 0.05045, 0.04564], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=adamw -o recipe__Scale-Balanced-Grasp__optimizer__adamw.yaml", "config_hash": "da6918ccb0132218", "run": "2026-10-16@1c8fd45", "seconds": 128.9},
  {"id": "recipe/HGGD/optimizer/adamw", "kind": "recipe", "method": "HGGD", "option": "optimizer=adamw", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 2.114x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.456, 1.405, 1.036], "loss/angle": [1.392, 0.6582, 2.114], "loss/offsets": [0.2654, 0.2157, 1.231], "loss/anchor": [0.8787, 0.7677, 1.145], "loss/anchor_offset": [0.2077, 0.1935, 1.073]}, "rise": {"loss/heatmap": -0.038, "loss/angle": -0.678, "loss/offsets": -0.088, "loss/anchor": -0.104, "loss/anchor_offset": -0.039}, "grasps_per_frame": [457, 448, 456, 412], "no_gradient": [], "unchanged": [], "score_median": [0.185, 0.1855, 0.186, 0.1844], "checked": [17, 2], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__HGGD__optimizer__adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=adamw -o recipe__HGGD__optimizer__adamw.yaml", "config_hash": "569a12faaf09c0fa", "run": "2026-10-16@1c8fd45", "seconds": 187.7},
  {"id": "recipe/GSNet/optimizer/ademamix", "kind": "recipe", "method": "GSNet", "option": "optimizer=ademamix", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1591, 0.1562, 1.019], "loss/graspness": [0.08027, 0.07598, 1.057], "loss/view": [0.8236, 0.8476, 0.972], "loss/score": [0.03004, 0.0313, 0.96], "loss/width": [0.1007, 0.101, 0.997]}, "rise": {"loss/objectness": -0.23, "loss/graspness": -0.352, "loss/view": 0.194, "loss/score": 0.226, "loss/width": -0.077}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06816, 0.06675, 0.07061, 0.07652], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__ademamix.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=ademamix -o recipe__GSNet__optimizer__ademamix.yaml", "config_hash": "ba189bcf482af77c", "run": "2026-10-16@1c8fd45", "seconds": 144.1},
  {"id": "recipe/EconomicGrasp/optimizer/ademamix", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=ademamix", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1297, 0.1259, 1.03], "loss/graspness": [0.06442, 0.06338, 1.016], "loss/view": [0.8322, 0.8303, 1.002], "loss/angle": [1.558, 1.543, 1.01], "loss/depth": [0.7923, 0.7779, 1.019], "loss/score": [1.311, 1.31, 1.001], "loss/width": [0.5614, 0.5737, 0.979]}, "rise": {"loss/objectness": -0.138, "loss/graspness": -0.394, "loss/view": 0.035, "loss/angle": 0.073, "loss/depth": 0.062, "loss/score": 0.07, "loss/width": -0.146}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.692, -1.536, -1.566, -0.8234], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__ademamix.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=ademamix -o recipe__EconomicGrasp__optimizer__ademamix.yaml", "config_hash": "6317131fe4cbc8c9", "run": "2026-10-16@1c8fd45", "seconds": 148.8},
  {"id": "recipe/FineGrasp/optimizer/ademamix", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=ademamix", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.606x the reference (tolerance 1.25)", "loss/graspness 1.885x the reference (tolerance 1.25)", "loss/angle 1.262x the reference (tolerance 1.25)", "loss/width 1.615x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1443, 0.08986, 1.606], "loss/graspness": [0.08903, 0.04722, 1.885], "loss/view": [0.7365, 0.7334, 1.004], "loss/angle": [1.182, 0.9369, 1.262], "loss/depth": [0.542, 0.4363, 1.242], "loss/score": [0.9776, 0.8125, 1.203], "loss/width": [0.5088, 0.3151, 1.615]}, "rise": {"loss/objectness": -0.527, "loss/graspness": -0.317, "loss/view": -0.032, "loss/angle": 0.046, "loss/depth": -0.03, "loss/score": 0.017, "loss/width": -0.221}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.551, 0.01105, -0.1617, 0.1234], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__ademamix.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=ademamix -o recipe__FineGrasp__optimizer__ademamix.yaml", "config_hash": "80dd9d88d31b79f0", "run": "2026-10-16@1c8fd45", "seconds": 571.4},
  {"id": "recipe/GraspNet-baseline/optimizer/ademamix", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=ademamix", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.77x"], "terms": {"loss/objectness": [0.3562, 0.3739, 0.953], "loss/view": [0.02939, 0.02976, 0.988], "loss/score": [0.02214, 0.02246, 0.985], "loss/angle": [0.3198, 0.3337, 0.959], "loss/width": [0.009899, 0.01289, 0.768], "loss/tolerance": [0.01663, 0.02008, 0.828]}, "rise": {"loss/objectness": -0.108, "loss/view": -0.037, "loss/score": -0.049, "loss/angle": -0.053, "loss/width": -0.197, "loss/tolerance": -0.448}, "grasps_per_frame": [352, 329, 445, 348], "no_gradient": [], "unchanged": [], "score_median": [0.1191, 0.09594, 0.13, 0.1321], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__ademamix.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=ademamix -o recipe__GraspNet-baseline__optimizer__ademamix.yaml", "config_hash": "65375840374a7edd", "run": "2026-10-16@1c8fd45", "seconds": 98.5},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/ademamix", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=ademamix", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.66x"], "terms": {"loss/objectness": [0.1889, 0.1975, 0.956], "loss/view": [0.08174, 0.08244, 0.992], "loss/score": [0.0131, 0.01418, 0.924], "loss/angle": [0.3202, 0.3132, 1.022], "loss/width": [0.00753, 0.01146, 0.657], "loss/tolerance": [0.00633, 0.007067, 0.896]}, "rise": {"loss/objectness": -0.093, "loss/view": -0.017, "loss/score": -0.034, "loss/angle": -0.059, "loss/width": -0.33, "loss/tolerance": -0.249}, "grasps_per_frame": [58, 103, 37, 23], "no_gradient": [], "unchanged": [], "score_median": [-0.009851, -0.02252, -0.007752, 0.002699], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__ademamix.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=ademamix -o recipe__Scale-Balanced-Grasp__optimizer__ademamix.yaml", "config_hash": "685ee58387c69276", "run": "2026-10-16@1c8fd45", "seconds": 131.3},
  {"id": "recipe/HGGD/optimizer/ademamix", "kind": "recipe", "method": "HGGD", "option": "optimizer=ademamix", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.941x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.463, 1.405, 1.041], "loss/angle": [1.278, 0.6582, 1.941], "loss/offsets": [0.2699, 0.2157, 1.251], "loss/anchor": [0.8977, 0.7677, 1.169], "loss/anchor_offset": [0.2104, 0.1935, 1.087]}, "rise": {"loss/heatmap": -0.041, "loss/angle": -0.684, "loss/offsets": -0.079, "loss/anchor": -0.098, "loss/anchor_offset": -0.018}, "grasps_per_frame": [451, 446, 447, 281], "no_gradient": [], "unchanged": [], "score_median": [0.1824, 0.1837, 0.1826, 0.1818], "checked": [17, 2], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__HGGD__optimizer__ademamix.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=ademamix -o recipe__HGGD__optimizer__ademamix.yaml", "config_hash": "13f3322ccbcaac4c", "run": "2026-10-16@1c8fd45", "seconds": 176.6},
  {"id": "recipe/GSNet/optimizer/encoder-lr-0.1", "kind": "recipe", "method": "GSNet", "option": "optimizer=encoder-lr-0.1", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.238x the reference (tolerance 1.25)", "loss/graspness 2.471x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.63x, loss/score 0.64x"], "terms": {"loss/objectness": [0.3495, 0.1562, 2.238], "loss/graspness": [0.1877, 0.07598, 2.471], "loss/view": [0.5355, 0.8476, 0.632], "loss/score": [0.02003, 0.0313, 0.64], "loss/width": [0.1141, 0.101, 1.129]}, "rise": {"loss/objectness": -0.275, "loss/graspness": -0.058, "loss/view": 0.189, "loss/score": -0.013, "loss/width": -0.095}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06874, 0.066, 0.06798, 0.07077], "checked": [12, 5], "schedule": "constant", "rate": 0.0001, "probe": "grasppanda probe recipe__GSNet__optimizer__encoder-lr-0.1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=encoder-lr-0.1 -o recipe__GSNet__optimizer__encoder-lr-0.1.yaml", "config_hash": "01e5cc5549a1a47c", "run": "2026-10-16@1c8fd45", "seconds": 136.4},
  {"id": "recipe/EconomicGrasp/optimizer/encoder-lr-0.1", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=encoder-lr-0.1", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.621x the reference (tolerance 1.25)", "loss/graspness 2.672x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4558, 0.1259, 3.621], "loss/graspness": [0.1694, 0.06338, 2.672], "loss/view": [0.7452, 0.8303, 0.898], "loss/angle": [1.49, 1.543, 0.966], "loss/depth": [0.7139, 0.7779, 0.918], "loss/score": [1.266, 1.31, 0.967], "loss/width": [0.6756, 0.5737, 1.178]}, "rise": {"loss/objectness": -0.157, "loss/graspness": -0.098, "loss/view": 0.077, "loss/angle": 0.04, "loss/depth": 0.002, "loss/score": 0.05, "loss/width": -0.05}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.916, -1.881, -1.789, -1.755], "checked": [15, 5], "schedule": "constant", "rate": 0.0001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__encoder-lr-0.1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=encoder-lr-0.1 -o recipe__EconomicGrasp__optimizer__encoder-lr-0.1.yaml", "config_hash": "609afffee66e05d3", "run": "2026-10-16@1c8fd45", "seconds": 147.3},
  {"id": "recipe/FineGrasp/optimizer/encoder-lr-0.1", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=encoder-lr-0.1", "level1": "runs", "outcome": "diverging", "reasons": ["loss/angle rises +29 % over the last half; the reference -16 %", "loss/depth rises +23 % over the last half; the reference -14 %", "loss/score rises +28 % over the last half; the reference -13 %", "loss/objectness 6.288x the reference (tolerance 1.25)", "loss/graspness 4.542x the reference (tolerance 1.25)", "loss/angle 1.277x the reference (tolerance 1.25)", "loss/depth 1.347x the reference (tolerance 1.25)", "loss/score 1.257x the reference (tolerance 1.25)", "loss/width 2.298x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.565, 0.08986, 6.288], "loss/graspness": [0.2145, 0.04722, 4.542], "loss/view": [0.6665, 0.7334, 0.909], "loss/angle": [1.197, 0.9369, 1.277], "loss/depth": [0.5876, 0.4363, 1.347], "loss/score": [1.021, 0.8125, 1.257], "loss/width": [0.7239, 0.3151, 2.298]}, "rise": {"loss/objectness": -0.082, "loss/graspness": -0.191, "loss/view": 0.016, "loss/angle": 0.286, "loss/depth": 0.229, "loss/score": 0.277, "loss/width": 0.034}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.147, -1.119, -1.108, -1.086], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__encoder-lr-0.1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=encoder-lr-0.1 -o recipe__FineGrasp__optimizer__encoder-lr-0.1.yaml", "config_hash": "4e1024ae5e954b66", "run": "2026-10-16@1c8fd45", "seconds": 564.4},
  {"id": "recipe/GraspNet-baseline/optimizer/encoder-lr-0.1", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=encoder-lr-0.1", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.326x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4958, 0.3739, 1.326], "loss/view": [0.03223, 0.02976, 1.083], "loss/score": [0.02256, 0.02246, 1.004], "loss/angle": [0.3331, 0.3337, 0.998], "loss/width": [0.01188, 0.01289, 0.922], "loss/tolerance": [0.01898, 0.02008, 0.945]}, "rise": {"loss/objectness": -0.037, "loss/view": -0.059, "loss/score": -0.007, "loss/angle": -0.056, "loss/width": -0.191, "loss/tolerance": -0.369}, "grasps_per_frame": [567, 149, 359, 132], "no_gradient": [], "unchanged": [], "score_median": [0.06781, 0.04794, 0.06139, 0.1134], "checked": [14, 4], "schedule": "constant", "rate": 0.0001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__encoder-lr-0.1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=encoder-lr-0.1 -o recipe__GraspNet-baseline__optimizer__encoder-lr-0.1.yaml", "config_hash": "5e98c42f4ed2f7d3", "run": "2026-10-16@1c8fd45", "seconds": 91.7},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/encoder-lr-0.1", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=encoder-lr-0.1", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.2357, 0.1975, 1.193], "loss/view": [0.08316, 0.08244, 1.009], "loss/score": [0.01377, 0.01418, 0.971], "loss/angle": [0.3078, 0.3132, 0.983], "loss/width": [0.01038, 0.01146, 0.906], "loss/tolerance": [0.007098, 0.007067, 1.004]}, "rise": {"loss/objectness": -0.043, "loss/view": -0.018, "loss/score": -0.042, "loss/angle": -0.074, "loss/width": -0.088, "loss/tolerance": -0.338}, "grasps_per_frame": [36, 43, 45, 75], "no_gradient": [], "unchanged": [], "score_median": [0.05966, 0.08537, 0.05862, 0.03158], "checked": [14, 4], "schedule": "constant", "rate": 0.0001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__encoder-lr-0.1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=encoder-lr-0.1 -o recipe__Scale-Balanced-Grasp__optimizer__encoder-lr-0.1.yaml", "config_hash": "f39b40de3ac90355", "run": "2026-10-16@1c8fd45", "seconds": 140.4},
  {"id": "recipe/GSNet/optimizer/layer-decay", "kind": "recipe", "method": "GSNet", "option": "optimizer=layer-decay", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.321x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1869, 0.1562, 1.197], "loss/graspness": [0.1003, 0.07598, 1.321], "loss/view": [0.7698, 0.8476, 0.908], "loss/score": [0.0282, 0.0313, 0.901], "loss/width": [0.1053, 0.101, 1.042]}, "rise": {"loss/objectness": -0.271, "loss/graspness": -0.243, "loss/view": 0.165, "loss/score": 0.039, "loss/width": -0.068}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0679, 0.06872, 0.07276, 0.08464], "checked": [12, 5], "schedule": "constant", "rate": 4.228e-06, "probe": "grasppanda probe recipe__GSNet__optimizer__layer-decay.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=layer-decay -o recipe__GSNet__optimizer__layer-decay.yaml", "config_hash": "c55d9620335da18a", "run": "2026-10-16@1c8fd45", "seconds": 137.8},
  {"id": "recipe/EconomicGrasp/optimizer/layer-decay", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=layer-decay", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.375x the reference (tolerance 1.25)", "loss/graspness 1.579x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1731, 0.1259, 1.375], "loss/graspness": [0.1001, 0.06338, 1.579], "loss/view": [0.794, 0.8303, 0.956], "loss/angle": [1.563, 1.543, 1.013], "loss/depth": [0.7732, 0.7779, 0.994], "loss/score": [1.334, 1.31, 1.018], "loss/width": [0.642, 0.5737, 1.119]}, "rise": {"loss/objectness": -0.394, "loss/graspness": -0.259, "loss/view": 0.04, "loss/angle": 0.039, "loss/depth": 0.025, "loss/score": 0.057, "loss/width": -0.064}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.016, -1.971, -1.965, -1.746], "checked": [15, 5], "schedule": "constant", "rate": 4.228e-06, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__layer-decay.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=layer-decay -o recipe__EconomicGrasp__optimizer__layer-decay.yaml", "config_hash": "210869d476420904", "run": "2026-10-16@1c8fd45", "seconds": 149.6},
  {"id": "recipe/FineGrasp/optimizer/layer-decay", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=layer-decay", "level1": "runs", "outcome": "diverging", "reasons": ["loss/angle rises +23 % over the last half; the reference -16 %", "loss/depth rises +14 % over the last half; the reference -14 %", "loss/score rises +22 % over the last half; the reference -13 %", "loss/objectness 2.946x the reference (tolerance 1.25)", "loss/graspness 2.719x the reference (tolerance 1.25)", "loss/angle 1.366x the reference (tolerance 1.25)", "loss/depth 1.396x the reference (tolerance 1.25)", "loss/score 1.334x the reference (tolerance 1.25)", "loss/width 2.166x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2647, 0.08986, 2.946], "loss/graspness": [0.1284, 0.04722, 2.719], "loss/view": [0.7442, 0.7334, 1.015], "loss/angle": [1.28, 0.9369, 1.366], "loss/depth": [0.6091, 0.4363, 1.396], "loss/score": [1.084, 0.8125, 1.334], "loss/width": [0.6826, 0.3151, 2.166]}, "rise": {"loss/objectness": -0.391, "loss/graspness": -0.26, "loss/view": 0.025, "loss/angle": 0.232, "loss/depth": 0.142, "loss/score": 0.223, "loss/width": -0.012}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.357, -1.296, -1.336, -1.354], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__layer-decay.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=layer-decay -o recipe__FineGrasp__optimizer__layer-decay.yaml", "config_hash": "76c5f68c0e31a898", "run": "2026-10-16@1c8fd45", "seconds": 579.0},
  {"id": "recipe/GraspNet-baseline/optimizer/layer-decay", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=layer-decay", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.4093, 0.3739, 1.095], "loss/view": [0.03059, 0.02976, 1.028], "loss/score": [0.0215, 0.02246, 0.957], "loss/angle": [0.3313, 0.3337, 0.993], "loss/width": [0.01308, 0.01289, 1.015], "loss/tolerance": [0.02357, 0.02008, 1.174]}, "rise": {"loss/objectness": -0.066, "loss/view": -0.036, "loss/score": -0.059, "loss/angle": -0.052, "loss/width": -0.259, "loss/tolerance": -0.319}, "grasps_per_frame": [326, 159, 387, 329], "no_gradient": [], "unchanged": [], "score_median": [0.09943, 0.03871, 0.1071, 0.08771], "checked": [14, 4], "schedule": "constant", "rate": 0.000178, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__layer-decay.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=layer-decay -o recipe__GraspNet-baseline__optimizer__layer-decay.yaml", "config_hash": "4f2888192e53db5f", "run": "2026-10-16@1c8fd45", "seconds": 87.3},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/layer-decay", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=layer-decay", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.2374, 0.1975, 1.202], "loss/view": [0.08343, 0.08244, 1.012], "loss/score": [0.01357, 0.01418, 0.957], "loss/angle": [0.3098, 0.3132, 0.989], "loss/width": [0.01254, 0.01146, 1.095], "loss/tolerance": [0.007119, 0.007067, 1.007]}, "rise": {"loss/objectness": -0.053, "loss/view": -0.018, "loss/score": -0.075, "loss/angle": -0.073, "loss/width": 0.206, "loss/tolerance": -0.344}, "grasps_per_frame": [25, 45, 59, 83], "no_gradient": [], "unchanged": [], "score_median": [0.04565, 0.03424, 0.02652, 0.06268], "checked": [14, 4], "schedule": "constant", "rate": 1.002e-05, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__layer-decay.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=layer-decay -o recipe__Scale-Balanced-Grasp__optimizer__layer-decay.yaml", "config_hash": "4ee57132454cc48c", "run": "2026-10-16@1c8fd45", "seconds": 120.8},
  {"id": "recipe/GSNet/optimizer/prodigy", "kind": "recipe", "method": "GSNet", "option": "optimizer=prodigy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1403, 0.1562, 0.899], "loss/graspness": [0.06544, 0.07598, 0.861], "loss/view": [0.8466, 0.8476, 0.999], "loss/score": [0.03233, 0.0313, 1.033], "loss/width": [0.09766, 0.101, 0.967]}, "rise": {"loss/objectness": -0.386, "loss/graspness": -0.513, "loss/view": 0.223, "loss/score": 0.088, "loss/width": -0.16}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07551, 0.07208, 0.06786, 0.07486], "checked": [12, 5], "schedule": "constant", "rate": 1.0, "probe": "grasppanda probe recipe__GSNet__optimizer__prodigy.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=prodigy -o recipe__GSNet__optimizer__prodigy.yaml", "config_hash": "19e695b9fa360bc7", "run": "2026-10-16@1c8fd45", "seconds": 147.4},
  {"id": "recipe/EconomicGrasp/optimizer/prodigy", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=prodigy", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.80x, loss/graspness 0.61x"], "terms": {"loss/objectness": [0.1004, 0.1259, 0.798], "loss/graspness": [0.03845, 0.06338, 0.607], "loss/view": [0.8438, 0.8303, 1.016], "loss/angle": [1.646, 1.543, 1.067], "loss/depth": [0.8637, 0.7779, 1.11], "loss/score": [1.429, 1.31, 1.091], "loss/width": [0.6094, 0.5737, 1.062]}, "rise": {"loss/objectness": -0.225, "loss/graspness": -0.301, "loss/view": -0.007, "loss/angle": 0.054, "loss/depth": 0.054, "loss/score": 0.062, "loss/width": -0.095}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.644, -1.684, -1.46, -1.519], "checked": [15, 5], "schedule": "constant", "rate": 1.0, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__prodigy.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=prodigy -o recipe__EconomicGrasp__optimizer__prodigy.yaml", "config_hash": "2192ce9cce49bebc", "run": "2026-10-16@1c8fd45", "seconds": 148.8},
  {"id": "recipe/FineGrasp/optimizer/prodigy", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=prodigy", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.417x the reference (tolerance 1.25)", "loss/graspness 1.624x the reference (tolerance 1.25)", "loss/angle 1.268x the reference (tolerance 1.25)", "loss/depth 1.263x the reference (tolerance 1.25)", "loss/width 1.551x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1273, 0.08986, 1.417], "loss/graspness": [0.07667, 0.04722, 1.624], "loss/view": [0.7532, 0.7334, 1.027], "loss/angle": [1.188, 0.9369, 1.268], "loss/depth": [0.5511, 0.4363, 1.263], "loss/score": [0.9859, 0.8125, 1.213], "loss/width": [0.4888, 0.3151, 1.551]}, "rise": {"loss/objectness": -0.595, "loss/graspness": -0.376, "loss/view": -0.023, "loss/angle": 0.069, "loss/depth": -0.014, "loss/score": 0.046, "loss/width": -0.258}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.619, -1.145, -1.485, -0.7676], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__prodigy.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=prodigy -o recipe__FineGrasp__optimizer__prodigy.yaml", "config_hash": "32d9ac904c83ccbd", "run": "2026-10-16@1c8fd45", "seconds": 594.2},
  {"id": "recipe/GraspNet-baseline/optimizer/prodigy", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=prodigy", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.65x"], "terms": {"loss/objectness": [0.3562, 0.3739, 0.953], "loss/view": [0.02899, 0.02976, 0.974], "loss/score": [0.02202, 0.02246, 0.98], "loss/angle": [0.3033, 0.3337, 0.909], "loss/width": [0.01094, 0.01289, 0.849], "loss/tolerance": [0.013, 0.02008, 0.648]}, "rise": {"loss/objectness": -0.131, "loss/view": -0.031, "loss/score": -0.037, "loss/angle": -0.072, "loss/width": -0.297, "loss/tolerance": -0.457}, "grasps_per_frame": [462, 360, 463, 432], "no_gradient": [], "unchanged": [], "score_median": [0.09609, 0.1102, 0.1326, 0.05728], "checked": [14, 4], "schedule": "constant", "rate": 1.0, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__prodigy.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=prodigy -o recipe__GraspNet-baseline__optimizer__prodigy.yaml", "config_hash": "02fb72d5d03fe362", "run": "2026-10-16@1c8fd45", "seconds": 92.1},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/prodigy", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=prodigy", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.900x the reference (tolerance 1.25)", "loss/view 3.195x the reference (tolerance 1.25)", "loss/score 3.013x the reference (tolerance 1.25)", "loss/angle 1.570x the reference (tolerance 1.25)", "loss/width 41.278x the reference (tolerance 1.25)", "loss/tolerance 154.755x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.7701, 0.1975, 3.9], "loss/view": [0.2634, 0.08244, 3.195], "loss/score": [0.04273, 0.01418, 3.013], "loss/angle": [0.4918, 0.3132, 1.57], "loss/width": [0.4729, 0.01146, 41.278], "loss/tolerance": [1.094, 0.007067, 154.755]}, "rise": {"loss/objectness": -0.002, "loss/view": 0.003, "loss/score": 0.002, "loss/angle": 0.006, "loss/width": 0.01, "loss/tolerance": 0.025}, "grasps_per_frame": [364, 926, 628, 620], "no_gradient": [], "unchanged": [], "score_median": [0.1789, 0.3152, 0.2211, 0.07464], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__prodigy.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=prodigy -o recipe__Scale-Balanced-Grasp__optimizer__prodigy.yaml", "config_hash": "1a1ced18809a307f", "run": "2026-10-16@1c8fd45", "seconds": 139.5},
  {"id": "recipe/HGGD/optimizer/prodigy", "kind": "recipe", "method": "HGGD", "option": "optimizer=prodigy", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.412, 1.405, 1.005], "loss/angle": [0.7916, 0.6582, 1.203], "loss/offsets": [0.303, 0.2157, 1.405], "loss/anchor": [0.8145, 0.7677, 1.061], "loss/anchor_offset": [0.197, 0.1935, 1.018]}, "rise": {"loss/heatmap": -0.028, "loss/angle": -0.068, "loss/offsets": -0.092, "loss/anchor": -0.042, "loss/anchor_offset": -0.117}, "grasps_per_frame": [348, 349, 318, 345], "no_gradient": [], "unchanged": [], "score_median": [0.1853, 0.1852, 0.1855, 0.1854], "checked": [17, 2], "schedule": "constant", "rate": 1.0, "probe": "grasppanda probe recipe__HGGD__optimizer__prodigy.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=prodigy -o recipe__HGGD__optimizer__prodigy.yaml", "config_hash": "29fe5348031450b9", "run": "2026-10-16@1c8fd45", "seconds": 188.3},
  {"id": "recipe/GSNet/optimizer/schedulefree-adamw", "kind": "recipe", "method": "GSNet", "option": "optimizer=schedulefree-adamw", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1788, 0.1562, 1.145], "loss/graspness": [0.08743, 0.07598, 1.151], "loss/view": [0.7957, 0.8476, 0.939], "loss/score": [0.02859, 0.0313, 0.914], "loss/width": [0.1091, 0.101, 1.08]}, "rise": {"loss/objectness": -0.38, "loss/graspness": -0.416, "loss/view": 0.165, "loss/score": -0.19, "loss/width": -0.151}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07961, 0.08168, 0.08515, 0.08412], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__optimizer__schedulefree-adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=schedulefree-adamw -o recipe__GSNet__optimizer__schedulefree-adamw.yaml", "config_hash": "6f33cc17febbfee1", "run": "2026-10-16@1c8fd45", "seconds": 137.5},
  {"id": "recipe/EconomicGrasp/optimizer/schedulefree-adamw", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=schedulefree-adamw", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.926x the reference (tolerance 1.25)", "loss/graspness 2.957x the reference (tolerance 1.25)", "loss/width 1.317x the reference (tolerance 1.25)"], "notes": ["unstable: 4 of 250 iterations had no real seed (iteration 176, 178, 197, 199)."], "terms": {"loss/objectness": [0.4943, 0.1259, 3.926], "loss/graspness": [0.1874, 0.06338, 2.957], "loss/view": [0.7673, 0.8303, 0.924], "loss/angle": [1.361, 1.543, 0.882], "loss/depth": [0.7028, 0.7779, 0.903], "loss/score": [1.137, 1.31, 0.868], "loss/width": [0.7556, 0.5737, 1.317]}, "rise": {"loss/objectness": -0.111, "loss/graspness": -0.235, "loss/view": -0.003, "loss/angle": 0.076, "loss/depth": -0.002, "loss/score": 0.062, "loss/width": -0.041}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.527, -3.561, -3.505, -3.538], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__schedulefree-adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=schedulefree-adamw -o recipe__EconomicGrasp__optimizer__schedulefree-adamw.yaml", "config_hash": "b570ac8686aa0622", "run": "2026-10-16@1c8fd45", "seconds": 140.1},
  {"id": "recipe/FineGrasp/optimizer/schedulefree-adamw", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=schedulefree-adamw", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08496, 0.08986, 0.945], "loss/graspness": [0.04194, 0.04722, 0.888], "loss/view": [0.7225, 0.7334, 0.985], "loss/angle": [0.9649, 0.9369, 1.03], "loss/depth": [0.4437, 0.4363, 1.017], "loss/score": [0.818, 0.8125, 1.007], "loss/width": [0.3141, 0.3151, 0.997]}, "rise": {"loss/objectness": -0.187, "loss/graspness": -0.29, "loss/view": -0.035, "loss/angle": -0.127, "loss/depth": -0.114, "loss/score": -0.106, "loss/width": -0.201}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.652, -2.533, -3.512, -2.791], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__schedulefree-adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=schedulefree-adamw -o recipe__FineGrasp__optimizer__schedulefree-adamw.yaml", "config_hash": "89253e1f71622843", "run": "2026-10-16@1c8fd45", "seconds": 579.8},
  {"id": "recipe/GraspNet-baseline/optimizer/schedulefree-adamw", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=schedulefree-adamw", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/tolerance 1.509x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3924, 0.3739, 1.05], "loss/view": [0.0307, 0.02976, 1.032], "loss/score": [0.02171, 0.02246, 0.966], "loss/angle": [0.3516, 0.3337, 1.054], "loss/width": [0.01566, 0.01289, 1.215], "loss/tolerance": [0.03029, 0.02008, 1.509]}, "rise": {"loss/objectness": -0.109, "loss/view": -0.102, "loss/score": -0.081, "loss/angle": -0.065, "loss/width": -0.493, "loss/tolerance": -0.603}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__schedulefree-adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=schedulefree-adamw -o recipe__GraspNet-baseline__optimizer__schedulefree-adamw.yaml", "config_hash": "a813ea3266eab33f", "run": "2026-10-16@1c8fd45", "seconds": 92.3},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/schedulefree-adamw", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=schedulefree-adamw", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1975, 0.1975, 1.0], "loss/view": [0.08496, 0.08244, 1.031], "loss/score": [0.01424, 0.01418, 1.004], "loss/angle": [0.331, 0.3132, 1.057], "loss/width": [0.009808, 0.01146, 0.856], "loss/tolerance": [0.006761, 0.007067, 0.957]}, "rise": {"loss/objectness": -0.13, "loss/view": -0.043, "loss/score": -0.091, "loss/angle": -0.069, "loss/width": -0.404, "loss/tolerance": -0.504}, "grasps_per_frame": [0, 3, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, 19.53, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__schedulefree-adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=schedulefree-adamw -o recipe__Scale-Balanced-Grasp__optimizer__schedulefree-adamw.yaml", "config_hash": "709b49f879df04d9", "run": "2026-10-16@1c8fd45", "seconds": 135.4},
  {"id": "recipe/HGGD/optimizer/schedulefree-adamw", "kind": "recipe", "method": "HGGD", "option": "optimizer=schedulefree-adamw", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 13.334x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.587, 1.405, 1.13], "loss/angle": [8.777, 0.6582, 13.334], "loss/offsets": [0.3058, 0.2157, 1.418], "loss/anchor": [0.9665, 0.7677, 1.259], "loss/anchor_offset": [0.2276, 0.1935, 1.176]}, "rise": {"loss/heatmap": -0.129, "loss/angle": -0.669, "loss/offsets": -0.13, "loss/anchor": -0.113, "loss/anchor_offset": -0.193}, "grasps_per_frame": [460, 460, 430, 480], "no_gradient": [], "unchanged": [], "score_median": [0.1713, 0.1713, 0.1742, 0.1743], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__optimizer__schedulefree-adamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=schedulefree-adamw -o recipe__HGGD__optimizer__schedulefree-adamw.yaml", "config_hash": "79827d58767921f4", "run": "2026-10-16@1c8fd45", "seconds": 181.3},
  {"id": "recipe/GSNet/optimizer/schedulefree-radam", "kind": "recipe", "method": "GSNet", "option": "optimizer=schedulefree-radam", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.392x the reference (tolerance 1.25)", "loss/graspness 2.054x the reference (tolerance 1.25)", "loss/width 1.338x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.72x"], "terms": {"loss/objectness": [0.3735, 0.1562, 2.392], "loss/graspness": [0.1561, 0.07598, 2.054], "loss/view": [0.6103, 0.8476, 0.72], "loss/score": [0.0322, 0.0313, 1.029], "loss/width": [0.1352, 0.101, 1.338]}, "rise": {"loss/objectness": -0.279, "loss/graspness": -0.15, "loss/view": 0.205, "loss/score": -0.249, "loss/width": -0.12}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09986, 0.1082, 0.1068, 0.1163], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__optimizer__schedulefree-radam.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=schedulefree-radam -o recipe__GSNet__optimizer__schedulefree-radam.yaml", "config_hash": "b6a912b2c33ed2ba", "run": "2026-10-16@1c8fd45", "seconds": 136.1},
  {"id": "recipe/EconomicGrasp/optimizer/schedulefree-radam", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=schedulefree-radam", "level1": "runs", "outcome": "diverging", "reasons": ["loss/angle rises +34 % over the last half; the reference +3 %", "loss/depth rises +32 % over the last half; the reference +3 %", "loss/score rises +33 % over the last half; the reference +4 %", "loss/objectness 3.213x the reference (tolerance 1.25)", "loss/graspness 2.572x the reference (tolerance 1.25)", "loss/width 1.280x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4045, 0.1259, 3.213], "loss/graspness": [0.163, 0.06338, 2.572], "loss/view": [0.7894, 0.8303, 0.951], "loss/angle": [1.274, 1.543, 0.826], "loss/depth": [0.6616, 0.7779, 0.851], "loss/score": [1.072, 1.31, 0.818], "loss/width": [0.7341, 0.5737, 1.28]}, "rise": {"loss/objectness": -0.222, "loss/graspness": -0.155, "loss/view": 0.057, "loss/angle": 0.341, "loss/depth": 0.322, "loss/score": 0.328, "loss/width": 0.023}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.643, -2.621, -2.655, -2.588], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__schedulefree-radam.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=schedulefree-radam -o recipe__EconomicGrasp__optimizer__schedulefree-radam.yaml", "config_hash": "04374c32eefeb789", "run": "2026-10-16@1c8fd45", "seconds": 152.0},
  {"id": "recipe/FineGrasp/optimizer/schedulefree-radam", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=schedulefree-radam", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.255x the reference (tolerance 1.25)", "loss/width 1.254x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1003, 0.08986, 1.116], "loss/graspness": [0.0532, 0.04722, 1.127], "loss/view": [0.7536, 0.7334, 1.028], "loss/angle": [1.176, 0.9369, 1.255], "loss/depth": [0.5069, 0.4363, 1.162], "loss/score": [0.9422, 0.8125, 1.16], "loss/width": [0.395, 0.3151, 1.254]}, "rise": {"loss/objectness": -0.215, "loss/graspness": -0.27, "loss/view": 0.009, "loss/angle": -0.004, "loss/depth": -0.054, "loss/score": -0.019, "loss/width": -0.196}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.942, -1.249, -1.956, -1.276], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__schedulefree-radam.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=schedulefree-radam -o recipe__FineGrasp__optimizer__schedulefree-radam.yaml", "config_hash": "fefbce5f34143032", "run": "2026-10-16@1c8fd45", "seconds": 582.6},
  {"id": "recipe/GraspNet-baseline/optimizer/schedulefree-radam", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=schedulefree-radam", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 2.775x the reference (tolerance 1.25)", "loss/tolerance 4.832x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4326, 0.3739, 1.157], "loss/view": [0.03624, 0.02976, 1.218], "loss/score": [0.02612, 0.02246, 1.163], "loss/angle": [0.3791, 0.3337, 1.136], "loss/width": [0.03577, 0.01289, 2.775], "loss/tolerance": [0.09701, 0.02008, 4.832]}, "rise": {"loss/objectness": -0.08, "loss/view": -0.197, "loss/score": -0.077, "loss/angle": -0.063, "loss/width": -0.411, "loss/tolerance": -0.417}, "grasps_per_frame": [0, 0, 5, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, -11.88, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__schedulefree-radam.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=schedulefree-radam -o recipe__GraspNet-baseline__optimizer__schedulefree-radam.yaml", "config_hash": "c07f8f57dd01d58a", "run": "2026-10-16@1c8fd45", "seconds": 88.3},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/schedulefree-radam", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=schedulefree-radam", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/width 1.284x the reference (tolerance 1.25)", "loss/tolerance 2.258x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2355, 0.1975, 1.192], "loss/view": [0.09156, 0.08244, 1.111], "loss/score": [0.01721, 0.01418, 1.213], "loss/angle": [0.3721, 0.3132, 1.188], "loss/width": [0.01471, 0.01146, 1.284], "loss/tolerance": [0.01595, 0.007067, 2.258]}, "rise": {"loss/objectness": -0.084, "loss/view": -0.062, "loss/score": -0.1, "loss/angle": -0.033, "loss/width": -0.479, "loss/tolerance": -0.548}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__schedulefree-radam.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=schedulefree-radam -o recipe__Scale-Balanced-Grasp__optimizer__schedulefree-radam.yaml", "config_hash": "86f9b886ff5e4dbb", "run": "2026-10-16@1c8fd45", "seconds": 129.8},
  {"id": "recipe/HGGD/optimizer/schedulefree-radam", "kind": "recipe", "method": "HGGD", "option": "optimizer=schedulefree-radam", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 46.234x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.684, 1.405, 1.199], "loss/angle": [30.43, 0.6582, 46.234], "loss/offsets": [0.3281, 0.2157, 1.521], "loss/anchor": [1.15, 0.7677, 1.498], "loss/anchor_offset": [0.2634, 0.1935, 1.361]}, "rise": {"loss/heatmap": -0.296, "loss/angle": -0.445, "loss/offsets": -0.127, "loss/anchor": -0.314, "loss/anchor_offset": -0.159}, "grasps_per_frame": [372, 386, 381, 375], "no_gradient": [], "unchanged": [], "score_median": [0.09109, 0.0915, 0.09131, 0.09166], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__optimizer__schedulefree-radam.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=schedulefree-radam -o recipe__HGGD__optimizer__schedulefree-radam.yaml", "config_hash": "31f7c9d2e58654c6", "run": "2026-10-16@1c8fd45", "seconds": 187.5},
  {"id": "recipe/GSNet/optimizer/schedulefree-sgd", "kind": "recipe", "method": "GSNet", "option": "optimizer=schedulefree-sgd", "level1": "runs-unstable", "outcome": "diverging", "reasons": ["loss/objectness rises 3.09e+16-fold over the last half; the reference -22 %", "loss/graspness rises 1.28e+19-fold over the last half; the reference -37 %", "loss/view rises 23.2-fold over the last half; the reference +21 %", "non-finite: non-finite loss at epoch 95, iteration 1: loss/objectness = nan, loss/graspness = nan, loss/view = nan, loss/score = nan, loss/width = nan. Frames in the batch: graspnet1b/scene_0000/realsense/0096, graspnet1b/scene_0000/realsense/0192, graspnet1b/scene_0000/realsense/0128, graspnet1b/scene_0000/realsense/0032", "no grasp on any of the 4 frames", "loss/objectness 230643137420801760.000x the reference (tolerance 1.25)", "loss/graspness 81077808492170690560.000x the reference (tolerance 1.25)", "loss/view 25.847x the reference (tolerance 1.25)", "loss/width 1.630x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.22x"], "terms": {"loss/objectness": [3.602e+16, 0.1562, 2.3064313742080176e+17], "loss/graspness": [6.16e+18, 0.07598, 8.107780849217069e+19], "loss/view": [21.91, 0.8476, 25.847], "loss/score": [0.006787, 0.0313, 0.217], "loss/width": [0.1647, 0.101, 1.63]}, "rise": {"loss/objectness": 3.094533625542656e+16, "loss/graspness": 1.2830874101473378e+19, "loss/view": 22.243, "loss/score": -0.156, "loss/width": -0.051}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__optimizer__schedulefree-sgd.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=schedulefree-sgd -o recipe__GSNet__optimizer__schedulefree-sgd.yaml", "config_hash": "b14cc69cf59211f3", "run": "2026-10-16@1c8fd45", "seconds": 107.7},
  {"id": "recipe/EconomicGrasp/optimizer/schedulefree-sgd", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=schedulefree-sgd", "level1": "runs-unstable", "outcome": "diverging", "reasons": ["loss/objectness rises 1.58e+16-fold over the last half; the reference -14 %", "loss/graspness rises 5.65e+18-fold over the last half; the reference -43 %", "loss/view rises 898-fold over the last half; the reference +3 %", "loss/width rises +101 % over the last half; the reference -12 %", "non-finite: non-finite loss at epoch 89, iteration 1: loss/objectness = nan, loss/graspness = nan, loss/view = nan, loss/angle = nan, loss/depth = nan, loss/score = nan, loss/width = nan. Frames in the batch: graspnet1b/scene_0000/realsense/0000, graspnet1b/scene_0000/realsense/0192, graspnet1b/scene_0000/realsense/0096, graspnet1b/scene_0000/realsense/0224", "no grasp on any of the 4 frames", "loss/objectness 103873407317740832.000x the reference (tolerance 1.25)", "loss/graspness 31549782915401474048.000x the reference (tolerance 1.25)", "loss/view 1496.130x the reference (tolerance 1.25)", "loss/width 3.686x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.63x, loss/depth 0.72x, loss/score 0.61x"], "terms": {"loss/objectness": [1.308e+16, 0.1259, 1.0387340731774083e+17], "loss/graspness": [2e+18, 0.06338, 3.1549782915401474e+19], "loss/view": [1242.0, 0.8303, 1496.13], "loss/angle": [0.9787, 1.543, 0.634], "loss/depth": [0.5597, 0.7779, 0.719], "loss/score": [0.8025, 1.31, 0.613], "loss/width": [2.115, 0.5737, 3.686]}, "rise": {"loss/objectness": 1.5772155327006236e+16, "loss/graspness": 5.648013200216401e+18, "loss/view": 896.738, "loss/angle": -0.12, "loss/depth": -0.114, "loss/score": -0.12, "loss/width": 1.007}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__schedulefree-sgd.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=schedulefree-sgd -o recipe__EconomicGrasp__optimizer__schedulefree-sgd.yaml", "config_hash": "40372e50fdf1f909", "run": "2026-10-16@1c8fd45", "seconds": 116.0},
  {"id": "recipe/FineGrasp/optimizer/schedulefree-sgd", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=schedulefree-sgd", "level1": "runs-unstable", "outcome": "diverging", "reasons": ["loss/depth rises +11 % over the last half; the reference -14 %", "loss/objectness 2.281x the reference (tolerance 1.25)", "loss/graspness 2.466x the reference (tolerance 1.25)", "loss/angle 1.597x the reference (tolerance 1.25)", "loss/depth 1.861x the reference (tolerance 1.25)", "loss/score 1.533x the reference (tolerance 1.25)", "loss/width 2.333x the reference (tolerance 1.25)"], "notes": ["unstable: 7 of 250 iterations had no real seed (iteration 16, 18, 20, 22, 28, 35 ...)."], "terms": {"loss/objectness": [0.205, 0.08986, 2.281], "loss/graspness": [0.1165, 0.04722, 2.466], "loss/view": [0.7731, 0.7334, 1.054], "loss/angle": [1.496, 0.9369, 1.597], "loss/depth": [0.8122, 0.4363, 1.861], "loss/score": [1.246, 0.8125, 1.533], "loss/width": [0.7352, 0.3151, 2.333]}, "rise": {"loss/objectness": -0.24, "loss/graspness": -0.3, "loss/view": -0.008, "loss/angle": 0.086, "loss/depth": 0.115, "loss/score": 0.081, "loss/width": -0.038}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.8413, -0.836, -0.8322, -0.8292], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__schedulefree-sgd.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=schedulefree-sgd -o recipe__FineGrasp__optimizer__schedulefree-sgd.yaml", "config_hash": "b320d7a1d406a94e", "run": "2026-10-16@1c8fd45", "seconds": 574.2},
  {"id": "recipe/GraspNet-baseline/optimizer/schedulefree-sgd", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=schedulefree-sgd", "level1": "runs", "outcome": "diverging", "reasons": ["loss/tolerance rises +138 % over the last half; the reference -36 %", "no grasp on any of the 4 frames", "loss/width 2.947x the reference (tolerance 1.25)", "loss/tolerance 1.681x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.356, 0.3739, 0.952], "loss/view": [0.03415, 0.02976, 1.148], "loss/score": [0.02047, 0.02246, 0.911], "loss/angle": [0.3397, 0.3337, 1.018], "loss/width": [0.03799, 0.01289, 2.947], "loss/tolerance": [0.03375, 0.02008, 1.681]}, "rise": {"loss/objectness": -0.18, "loss/view": -0.181, "loss/score": -0.047, "loss/angle": -0.087, "loss/width": 0.04, "loss/tolerance": 1.377}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__schedulefree-sgd.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=schedulefree-sgd -o recipe__GraspNet-baseline__optimizer__schedulefree-sgd.yaml", "config_hash": "166b78c74926e8fd", "run": "2026-10-16@1c8fd45", "seconds": 91.4},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/schedulefree-sgd", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=schedulefree-sgd", "level1": "runs-empty", "outcome": "diverging", "reasons": ["loss/tolerance rises +95 % over the last half; the reference -23 %", "loss/width 2.624x the reference (tolerance 1.25)", "loss/tolerance 2.755x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1851, 0.1975, 0.937], "loss/view": [0.09037, 0.08244, 1.096], "loss/score": [0.01311, 0.01418, 0.925], "loss/angle": [0.329, 0.3132, 1.05], "loss/width": [0.03006, 0.01146, 2.624], "loss/tolerance": [0.01947, 0.007067, 2.755]}, "rise": {"loss/objectness": -0.128, "loss/view": -0.031, "loss/score": -0.203, "loss/angle": -0.076, "loss/width": -0.125, "loss/tolerance": 0.948}, "grasps_per_frame": [1, 0, 2, 4], "no_gradient": [], "unchanged": [], "score_median": [-3.586, null, -2.642, -2.482], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__schedulefree-sgd.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=schedulefree-sgd -o recipe__Scale-Balanced-Grasp__optimizer__schedulefree-sgd.yaml", "config_hash": "3514e1b84c9c7212", "run": "2026-10-16@1c8fd45", "seconds": 131.7},
  {"id": "recipe/HGGD/optimizer/schedulefree-sgd", "kind": "recipe", "method": "HGGD", "option": "optimizer=schedulefree-sgd", "level1": "runs", "outcome": "diverging", "reasons": ["loss/heatmap rises +92 % over the last half; the reference -3 %", "loss/anchor rises +97 % over the last half; the reference -6 %", "loss/heatmap 3.403x the reference (tolerance 1.55)", "loss/anchor 3.530x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [4.781, 1.405, 3.403], "loss/angle": [0.8519, 0.6582, 1.294], "loss/offsets": [0.2445, 0.2157, 1.133], "loss/anchor": [2.71, 0.7677, 3.53], "loss/anchor_offset": [0.2186, 0.1935, 1.129]}, "rise": {"loss/heatmap": 0.917, "loss/angle": -0.039, "loss/offsets": -0.104, "loss/anchor": 0.973, "loss/anchor_offset": 0.034}, "grasps_per_frame": [170, 205, 180, 195], "no_gradient": [], "unchanged": [], "score_median": [0.04485, 0.04481, 0.04488, 0.04481], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__optimizer__schedulefree-sgd.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=schedulefree-sgd -o recipe__HGGD__optimizer__schedulefree-sgd.yaml", "config_hash": "5f09ccc82369769c", "run": "2026-10-16@1c8fd45", "seconds": 191.5},
  {"id": "recipe/GSNet/optimizer/soap", "kind": "recipe", "method": "GSNet", "option": "optimizer=soap", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.79x, loss/graspness 0.59x"], "terms": {"loss/objectness": [0.1234, 0.1562, 0.79], "loss/graspness": [0.04516, 0.07598, 0.594], "loss/view": [0.757, 0.8476, 0.893], "loss/score": [0.03094, 0.0313, 0.989], "loss/width": [0.08784, 0.101, 0.869]}, "rise": {"loss/objectness": -0.388, "loss/graspness": -0.42, "loss/view": 0.048, "loss/score": 0.2, "loss/width": -0.133}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.04845, 0.05082, 0.05543, 0.04187], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__soap.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=soap -o recipe__GSNet__optimizer__soap.yaml", "config_hash": "5cb9f620653b63bb", "run": "2026-10-16@1c8fd45", "seconds": 149.2},
  {"id": "recipe/EconomicGrasp/optimizer/soap", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=soap", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.70x, loss/graspness 0.49x"], "terms": {"loss/objectness": [0.08752, 0.1259, 0.695], "loss/graspness": [0.03092, 0.06338, 0.488], "loss/view": [0.6976, 0.8303, 0.84], "loss/angle": [1.474, 1.543, 0.955], "loss/depth": [0.7879, 0.7779, 1.013], "loss/score": [1.303, 1.31, 0.995], "loss/width": [0.6172, 0.5737, 1.076]}, "rise": {"loss/objectness": -0.37, "loss/graspness": -0.365, "loss/view": -0.097, "loss/angle": -0.013, "loss/depth": 0.003, "loss/score": 0.008, "loss/width": -0.082}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.303, -1.36, -1.439, -1.481], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__soap.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=soap -o recipe__EconomicGrasp__optimizer__soap.yaml", "config_hash": "caf0be5b82ce39fe", "run": "2026-10-16@1c8fd45", "seconds": 152.2},
  {"id": "recipe/FineGrasp/optimizer/soap", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=soap", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 5.927x the reference (tolerance 1.25)", "loss/graspness 3.947x the reference (tolerance 1.25)", "loss/width 2.132x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.5326, 0.08986, 5.927], "loss/graspness": [0.1864, 0.04722, 3.947], "loss/view": [0.7684, 0.7334, 1.048], "loss/angle": [0.8532, 0.9369, 0.911], "loss/depth": [0.4472, 0.4363, 1.025], "loss/score": [0.7349, 0.8125, 0.904], "loss/width": [0.6716, 0.3151, 2.132]}, "rise": {"loss/objectness": -0.113, "loss/graspness": -0.441, "loss/view": -0.48, "loss/angle": 0.087, "loss/depth": -0.031, "loss/score": -0.017, "loss/width": -0.068}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.269, -1.155, -1.231, -1.349], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__soap.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=soap -o recipe__FineGrasp__optimizer__soap.yaml", "config_hash": "26e07d1fbb50e70a", "run": "2026-10-16@1c8fd45", "seconds": 600.7},
  {"id": "recipe/GraspNet-baseline/optimizer/soap", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=soap", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.56x, loss/tolerance 0.48x"], "terms": {"loss/objectness": [0.3709, 0.3739, 0.992], "loss/view": [0.02889, 0.02976, 0.971], "loss/score": [0.01981, 0.02246, 0.882], "loss/angle": [0.3036, 0.3337, 0.91], "loss/width": [0.007274, 0.01289, 0.564], "loss/tolerance": [0.009639, 0.02008, 0.48]}, "rise": {"loss/objectness": -0.093, "loss/view": -0.043, "loss/score": -0.169, "loss/angle": -0.106, "loss/width": -0.495, "loss/tolerance": -0.647}, "grasps_per_frame": [488, 411, 478, 441], "no_gradient": [], "unchanged": [], "score_median": [0.07338, 0.04287, 0.07285, 0.07922], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__soap.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=soap -o recipe__GraspNet-baseline__optimizer__soap.yaml", "config_hash": "71defad382f007e3", "run": "2026-10-16@1c8fd45", "seconds": 94.8},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/soap", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=soap", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/score 0.78x, loss/width 0.44x, loss/tolerance 0.67x"], "terms": {"loss/objectness": [0.1883, 0.1975, 0.954], "loss/view": [0.0785, 0.08244, 0.952], "loss/score": [0.01112, 0.01418, 0.784], "loss/angle": [0.2561, 0.3132, 0.818], "loss/width": [0.005029, 0.01146, 0.439], "loss/tolerance": [0.004724, 0.007067, 0.669]}, "rise": {"loss/objectness": -0.123, "loss/view": -0.037, "loss/score": -0.221, "loss/angle": -0.16, "loss/width": -0.361, "loss/tolerance": -0.297}, "grasps_per_frame": [115, 96, 124, 72], "no_gradient": [], "unchanged": [], "score_median": [0.06311, 0.0757, 0.06092, 0.0403], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__soap.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=soap -o recipe__Scale-Balanced-Grasp__optimizer__soap.yaml", "config_hash": "f584bbe4150fdd8c", "run": "2026-10-16@1c8fd45", "seconds": 136.9},
  {"id": "recipe/GSNet/optimizer/stableadamw", "kind": "recipe", "method": "GSNet", "option": "optimizer=stableadamw", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1536, 0.1562, 0.984], "loss/graspness": [0.06416, 0.07598, 0.844], "loss/view": [0.8663, 0.8476, 1.022], "loss/score": [0.03349, 0.0313, 1.07], "loss/width": [0.09705, 0.101, 0.96]}, "rise": {"loss/objectness": -0.176, "loss/graspness": -0.38, "loss/view": 0.178, "loss/score": 0.254, "loss/width": -0.099}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.0684, 0.07655, 0.0634, 0.06701], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__stableadamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=stableadamw -o recipe__GSNet__optimizer__stableadamw.yaml", "config_hash": "95f05530aee330c3", "run": "2026-10-16@1c8fd45", "seconds": 148.0},
  {"id": "recipe/EconomicGrasp/optimizer/stableadamw", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=stableadamw", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1249, 0.1259, 0.992], "loss/graspness": [0.06353, 0.06338, 1.002], "loss/view": [0.8193, 0.8303, 0.987], "loss/angle": [1.579, 1.543, 1.023], "loss/depth": [0.8062, 0.7779, 1.036], "loss/score": [1.347, 1.31, 1.029], "loss/width": [0.5672, 0.5737, 0.989]}, "rise": {"loss/objectness": -0.114, "loss/graspness": -0.27, "loss/view": 0.015, "loss/angle": 0.014, "loss/depth": 0.01, "loss/score": 0.024, "loss/width": -0.102}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.144, -1.996, -1.824, -0.3787], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__stableadamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=stableadamw -o recipe__EconomicGrasp__optimizer__stableadamw.yaml", "config_hash": "aad7ff55d41c765b", "run": "2026-10-16@1c8fd45", "seconds": 155.1},
  {"id": "recipe/FineGrasp/optimizer/stableadamw", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=stableadamw", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.621x the reference (tolerance 1.25)", "loss/graspness 1.921x the reference (tolerance 1.25)", "loss/depth 1.264x the reference (tolerance 1.25)", "loss/width 1.770x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1457, 0.08986, 1.621], "loss/graspness": [0.09072, 0.04722, 1.921], "loss/view": [0.7329, 0.7334, 0.999], "loss/angle": [1.162, 0.9369, 1.24], "loss/depth": [0.5518, 0.4363, 1.264], "loss/score": [0.9687, 0.8125, 1.192], "loss/width": [0.5578, 0.3151, 1.77]}, "rise": {"loss/objectness": -0.545, "loss/graspness": -0.358, "loss/view": -0.039, "loss/angle": 0.067, "loss/depth": -0.007, "loss/score": 0.057, "loss/width": -0.16}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.801, -1.766, -1.769, -1.87], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__stableadamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=stableadamw -o recipe__FineGrasp__optimizer__stableadamw.yaml", "config_hash": "3518dfa5dac375f4", "run": "2026-10-16@1c8fd45", "seconds": 592.2},
  {"id": "recipe/GraspNet-baseline/optimizer/stableadamw", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=stableadamw", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.444x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3803, 0.3739, 1.017], "loss/view": [0.02977, 0.02976, 1.001], "loss/score": [0.02125, 0.02246, 0.946], "loss/angle": [0.325, 0.3337, 0.974], "loss/width": [0.01861, 0.01289, 1.444], "loss/tolerance": [0.0226, 0.02008, 1.125]}, "rise": {"loss/objectness": -0.071, "loss/view": -0.044, "loss/score": -0.079, "loss/angle": -0.052, "loss/width": -0.032, "loss/tolerance": -0.296}, "grasps_per_frame": [462, 240, 606, 516], "no_gradient": [], "unchanged": [], "score_median": [0.01492, 0.1025, 0.07363, 0.08227], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__stableadamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=stableadamw -o recipe__GraspNet-baseline__optimizer__stableadamw.yaml", "config_hash": "7c35ec3a2375953f", "run": "2026-10-16@1c8fd45", "seconds": 89.3},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/stableadamw", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=stableadamw", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1879, 0.1975, 0.951], "loss/view": [0.08229, 0.08244, 0.998], "loss/score": [0.0134, 0.01418, 0.945], "loss/angle": [0.3056, 0.3132, 0.976], "loss/width": [0.01314, 0.01146, 1.147], "loss/tolerance": [0.008804, 0.007067, 1.246]}, "rise": {"loss/objectness": -0.122, "loss/view": -0.013, "loss/score": -0.042, "loss/angle": -0.073, "loss/width": 0.103, "loss/tolerance": -0.222}, "grasps_per_frame": [128, 142, 190, 87], "no_gradient": [], "unchanged": [], "score_median": [0.04059, 0.05481, 0.06902, 0.0812], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__stableadamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=stableadamw -o recipe__Scale-Balanced-Grasp__optimizer__stableadamw.yaml", "config_hash": "4d900597c3618ba1", "run": "2026-10-16@1c8fd45", "seconds": 128.0},
  {"id": "recipe/HGGD/optimizer/stableadamw", "kind": "recipe", "method": "HGGD", "option": "optimizer=stableadamw", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 2.050x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.453, 1.405, 1.034], "loss/angle": [1.35, 0.6582, 2.05], "loss/offsets": [0.2768, 0.2157, 1.283], "loss/anchor": [0.883, 0.7677, 1.15], "loss/anchor_offset": [0.2147, 0.1935, 1.109]}, "rise": {"loss/heatmap": -0.047, "loss/angle": -0.682, "loss/offsets": -0.08, "loss/anchor": -0.106, "loss/anchor_offset": -0.015}, "grasps_per_frame": [472, 461, 473, 418], "no_gradient": [], "unchanged": [], "score_median": [0.1861, 0.1872, 0.1863, 0.1798], "checked": [17, 2], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__HGGD__optimizer__stableadamw.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=stableadamw -o recipe__HGGD__optimizer__stableadamw.yaml", "config_hash": "d09451867e164cf3", "run": "2026-10-16@1c8fd45", "seconds": 179.2},
  {"id": "recipe/GSNet/optimizer/timm-adan", "kind": "recipe", "method": "GSNet", "option": "optimizer=timm-adan", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.266x the reference (tolerance 1.25)", "loss/graspness 1.803x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.80x, loss/score 0.63x"], "terms": {"loss/objectness": [0.1978, 0.1562, 1.266], "loss/graspness": [0.137, 0.07598, 1.803], "loss/view": [0.6773, 0.8476, 0.799], "loss/score": [0.01957, 0.0313, 0.625], "loss/width": [0.1052, 0.101, 1.041]}, "rise": {"loss/objectness": -0.242, "loss/graspness": -0.174, "loss/view": 0.145, "loss/score": 0.021, "loss/width": -0.062}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05644, 0.05958, 0.05629, 0.05751], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__timm-adan.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=timm-adan -o recipe__GSNet__optimizer__timm-adan.yaml", "config_hash": "3671dbc8c597ff0e", "run": "2026-10-16@1c8fd45", "seconds": 135.7},
  {"id": "recipe/EconomicGrasp/optimizer/timm-adan", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=timm-adan", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.324x the reference (tolerance 1.25)", "loss/graspness 2.238x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1667, 0.1259, 1.324], "loss/graspness": [0.1418, 0.06338, 2.238], "loss/view": [0.7894, 0.8303, 0.951], "loss/angle": [1.471, 1.543, 0.953], "loss/depth": [0.7585, 0.7779, 0.975], "loss/score": [1.225, 1.31, 0.935], "loss/width": [0.6998, 0.5737, 1.22]}, "rise": {"loss/objectness": -0.355, "loss/graspness": -0.141, "loss/view": 0.035, "loss/angle": 0.048, "loss/depth": 0.04, "loss/score": 0.045, "loss/width": -0.035}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.08, -2.099, -2.098, -2.053], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__timm-adan.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=timm-adan -o recipe__EconomicGrasp__optimizer__timm-adan.yaml", "config_hash": "4ec0348f24754905", "run": "2026-10-16@1c8fd45", "seconds": 155.2},
  {"id": "recipe/FineGrasp/optimizer/timm-adan", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=timm-adan", "level1": "runs", "outcome": "diverging", "reasons": ["loss/view rises +11 % over the last half; the reference -2 %", "loss/angle rises +39 % over the last half; the reference -16 %", "loss/depth rises +35 % over the last half; the reference -14 %", "loss/score rises +37 % over the last half; the reference -13 %", "loss/objectness 3.544x the reference (tolerance 1.25)", "loss/graspness 2.902x the reference (tolerance 1.25)", "loss/angle 1.293x the reference (tolerance 1.25)", "loss/depth 1.444x the reference (tolerance 1.25)", "loss/score 1.258x the reference (tolerance 1.25)", "loss/width 2.364x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3185, 0.08986, 3.544], "loss/graspness": [0.137, 0.04722, 2.902], "loss/view": [0.8035, 0.7334, 1.096], "loss/angle": [1.212, 0.9369, 1.293], "loss/depth": [0.63, 0.4363, 1.444], "loss/score": [1.022, 0.8125, 1.258], "loss/width": [0.7449, 0.3151, 2.364]}, "rise": {"loss/objectness": -0.329, "loss/graspness": -0.337, "loss/view": 0.106, "loss/angle": 0.391, "loss/depth": 0.352, "loss/score": 0.367, "loss/width": 0.081}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.6828, -0.684, -0.6873, -0.6802], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__timm-adan.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=timm-adan -o recipe__FineGrasp__optimizer__timm-adan.yaml", "config_hash": "39367777fce844b4", "run": "2026-10-16@1c8fd45", "seconds": 577.7},
  {"id": "recipe/GraspNet-baseline/optimizer/timm-adan", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=timm-adan", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.409, 0.3739, 1.094], "loss/view": [0.03083, 0.02976, 1.036], "loss/score": [0.02393, 0.02246, 1.065], "loss/angle": [0.3547, 0.3337, 1.063], "loss/width": [0.01048, 0.01289, 0.813], "loss/tolerance": [0.0245, 0.02008, 1.22]}, "rise": {"loss/objectness": -0.066, "loss/view": -0.051, "loss/score": -0.068, "loss/angle": -0.044, "loss/width": -0.377, "loss/tolerance": -0.478}, "grasps_per_frame": [538, 466, 577, 459], "no_gradient": [], "unchanged": [], "score_median": [0.07573, 0.05143, 0.06433, 0.02715], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__timm-adan.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=timm-adan -o recipe__GraspNet-baseline__optimizer__timm-adan.yaml", "config_hash": "b9020989d3d6e311", "run": "2026-10-16@1c8fd45", "seconds": 87.8},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/timm-adan", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=timm-adan", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.63x"], "terms": {"loss/objectness": [0.2098, 0.1975, 1.063], "loss/view": [0.08564, 0.08244, 1.039], "loss/score": [0.0138, 0.01418, 0.973], "loss/angle": [0.3492, 0.3132, 1.115], "loss/width": [0.007164, 0.01146, 0.625], "loss/tolerance": [0.007297, 0.007067, 1.033]}, "rise": {"loss/objectness": -0.084, "loss/view": -0.011, "loss/score": -0.091, "loss/angle": -0.037, "loss/width": -0.243, "loss/tolerance": -0.39}, "grasps_per_frame": [56, 40, 50, 25], "no_gradient": [], "unchanged": [], "score_median": [0.03087, 0.001443, -0.02924, 0.09577], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__timm-adan.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=timm-adan -o recipe__Scale-Balanced-Grasp__optimizer__timm-adan.yaml", "config_hash": "bec64bbc9ab5b773", "run": "2026-10-16@1c8fd45", "seconds": 135.0},
  {"id": "recipe/HGGD/optimizer/timm-adan", "kind": "recipe", "method": "HGGD", "option": "optimizer=timm-adan", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 2.215x the reference (tolerance 1.55)", "loss/anchor 2.105x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.513, 1.405, 1.077], "loss/angle": [1.458, 0.6582, 2.215], "loss/offsets": [0.2837, 0.2157, 1.315], "loss/anchor": [1.616, 0.7677, 2.105], "loss/anchor_offset": [0.2468, 0.1935, 1.275]}, "rise": {"loss/heatmap": -0.063, "loss/angle": -0.698, "loss/offsets": -0.054, "loss/anchor": -0.155, "loss/anchor_offset": -0.087}, "grasps_per_frame": [480, 480, 480, 420], "no_gradient": [], "unchanged": [], "score_median": [0.134, 0.1369, 0.1333, 0.1269], "checked": [17, 2], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__HGGD__optimizer__timm-adan.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=timm-adan -o recipe__HGGD__optimizer__timm-adan.yaml", "config_hash": "9a25e1154404ce32", "run": "2026-10-16@1c8fd45", "seconds": 179.0},
  {"id": "recipe/GSNet/optimizer/timm-adopt", "kind": "recipe", "method": "GSNet", "option": "optimizer=timm-adopt", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1606, 0.1562, 1.028], "loss/graspness": [0.08871, 0.07598, 1.168], "loss/view": [0.7638, 0.8476, 0.901], "loss/score": [0.02743, 0.0313, 0.876], "loss/width": [0.1049, 0.101, 1.038]}, "rise": {"loss/objectness": -0.229, "loss/graspness": -0.296, "loss/view": 0.159, "loss/score": 0.053, "loss/width": -0.037}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07891, 0.08636, 0.08536, 0.08518], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__timm-adopt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=timm-adopt -o recipe__GSNet__optimizer__timm-adopt.yaml", "config_hash": "a7064986d34c063d", "run": "2026-10-16@1c8fd45", "seconds": 141.4},
  {"id": "recipe/EconomicGrasp/optimizer/timm-adopt", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=timm-adopt", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.603x the reference (tolerance 1.25)", "loss/graspness 1.700x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2017, 0.1259, 1.603], "loss/graspness": [0.1078, 0.06338, 1.7], "loss/view": [0.7674, 0.8303, 0.924], "loss/angle": [1.444, 1.543, 0.936], "loss/depth": [0.7139, 0.7779, 0.918], "loss/score": [1.224, 1.31, 0.935], "loss/width": [0.7145, 0.5737, 1.245]}, "rise": {"loss/objectness": -0.38, "loss/graspness": -0.224, "loss/view": 0.035, "loss/angle": 0.047, "loss/depth": 0.024, "loss/score": 0.058, "loss/width": -0.034}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.206, -2.149, -2.158, -2.061], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__timm-adopt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=timm-adopt -o recipe__EconomicGrasp__optimizer__timm-adopt.yaml", "config_hash": "2180c68a321ba4a1", "run": "2026-10-16@1c8fd45", "seconds": 160.0},
  {"id": "recipe/FineGrasp/optimizer/timm-adopt", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=timm-adopt", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.487x the reference (tolerance 1.25)", "loss/graspness 1.901x the reference (tolerance 1.25)", "loss/angle 1.316x the reference (tolerance 1.25)", "loss/depth 1.317x the reference (tolerance 1.25)", "loss/score 1.251x the reference (tolerance 1.25)", "loss/width 1.615x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1336, 0.08986, 1.487], "loss/graspness": [0.08976, 0.04722, 1.901], "loss/view": [0.7366, 0.7334, 1.004], "loss/angle": [1.233, 0.9369, 1.316], "loss/depth": [0.5747, 0.4363, 1.317], "loss/score": [1.016, 0.8125, 1.251], "loss/width": [0.5089, 0.3151, 1.615]}, "rise": {"loss/objectness": -0.168, "loss/graspness": 0.001, "loss/view": -0.004, "loss/angle": -0.008, "loss/depth": -0.03, "loss/score": -0.023, "loss/width": -0.206}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.984, -1.597, -2.022, -1.877], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__timm-adopt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=timm-adopt -o recipe__FineGrasp__optimizer__timm-adopt.yaml", "config_hash": "b72a8d2d49ba6920", "run": "2026-10-16@1c8fd45", "seconds": 528.2},
  {"id": "recipe/GraspNet-baseline/optimizer/timm-adopt", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=timm-adopt", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3314, 0.3739, 0.886], "loss/view": [0.0299, 0.02976, 1.005], "loss/score": [0.023, 0.02246, 1.024], "loss/angle": [0.3331, 0.3337, 0.998], "loss/width": [0.01215, 0.01289, 0.943], "loss/tolerance": [0.02286, 0.02008, 1.139]}, "rise": {"loss/objectness": -0.129, "loss/view": -0.043, "loss/score": -0.068, "loss/angle": -0.035, "loss/width": -0.295, "loss/tolerance": -0.218}, "grasps_per_frame": [475, 343, 453, 517], "no_gradient": [], "unchanged": [], "score_median": [0.03948, 0.1414, 0.06752, 0.08116], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__timm-adopt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=timm-adopt -o recipe__GraspNet-baseline__optimizer__timm-adopt.yaml", "config_hash": "4066219a99894fd5", "run": "2026-10-16@1c8fd45", "seconds": 94.5},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/timm-adopt", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=timm-adopt", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1855, 0.1975, 0.939], "loss/view": [0.0848, 0.08244, 1.029], "loss/score": [0.01361, 0.01418, 0.96], "loss/angle": [0.3228, 0.3132, 1.03], "loss/width": [0.01042, 0.01146, 0.91], "loss/tolerance": [0.005859, 0.007067, 0.829]}, "rise": {"loss/objectness": -0.118, "loss/view": -0.013, "loss/score": -0.007, "loss/angle": -0.041, "loss/width": -0.143, "loss/tolerance": -0.218}, "grasps_per_frame": [130, 113, 128, 95], "no_gradient": [], "unchanged": [], "score_median": [0.03518, 0.03876, 0.02529, 0.0809], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__timm-adopt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=timm-adopt -o recipe__Scale-Balanced-Grasp__optimizer__timm-adopt.yaml", "config_hash": "b6d030f70abdd11b", "run": "2026-10-16@1c8fd45", "seconds": 143.6},
  {"id": "recipe/HGGD/optimizer/timm-adopt", "kind": "recipe", "method": "HGGD", "option": "optimizer=timm-adopt", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 2.914x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.489, 1.405, 1.06], "loss/angle": [1.918, 0.6582, 2.914], "loss/offsets": [0.2389, 0.2157, 1.107], "loss/anchor": [0.8679, 0.7677, 1.131], "loss/anchor_offset": [0.223, 0.1935, 1.152]}, "rise": {"loss/heatmap": -0.084, "loss/angle": -0.719, "loss/offsets": -0.13, "loss/anchor": -0.098, "loss/anchor_offset": -0.027}, "grasps_per_frame": [480, 470, 470, 400], "no_gradient": [], "unchanged": [], "score_median": [0.2004, 0.1978, 0.1988, 0.1954], "checked": [17, 2], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__HGGD__optimizer__timm-adopt.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=timm-adopt -o recipe__HGGD__optimizer__timm-adopt.yaml", "config_hash": "b5688d5efe1a1462", "run": "2026-10-16@1c8fd45", "seconds": 196.8},
  {"id": "recipe/GSNet/optimizer/timm-lamb", "kind": "recipe", "method": "GSNet", "option": "optimizer=timm-lamb", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1434, 0.1562, 0.918], "loss/graspness": [0.07249, 0.07598, 0.954], "loss/view": [0.783, 0.8476, 0.924], "loss/score": [0.02757, 0.0313, 0.881], "loss/width": [0.1019, 0.101, 1.008]}, "rise": {"loss/objectness": -0.293, "loss/graspness": -0.349, "loss/view": 0.088, "loss/score": -0.066, "loss/width": -0.092}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05729, 0.06687, 0.06012, 0.0728], "checked": [12, 5], "schedule": "constant", "rate": 0.002, "probe": "grasppanda probe recipe__GSNet__optimizer__timm-lamb.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=timm-lamb -o recipe__GSNet__optimizer__timm-lamb.yaml", "config_hash": "35f47af96413c6fe", "run": "2026-10-16@1c8fd45", "seconds": 146.0},
  {"id": "recipe/EconomicGrasp/optimizer/timm-lamb", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=timm-lamb", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.75x"], "terms": {"loss/objectness": [0.1048, 0.1259, 0.833], "loss/graspness": [0.04723, 0.06338, 0.745], "loss/view": [0.8526, 0.8303, 1.027], "loss/angle": [1.559, 1.543, 1.01], "loss/depth": [0.8123, 0.7779, 1.044], "loss/score": [1.348, 1.31, 1.029], "loss/width": [0.645, 0.5737, 1.124]}, "rise": {"loss/objectness": -0.148, "loss/graspness": -0.319, "loss/view": 0.02, "loss/angle": 0.061, "loss/depth": 0.052, "loss/score": 0.065, "loss/width": -0.081}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.587, -1.816, -1.568, -1.572], "checked": [15, 5], "schedule": "constant", "rate": 0.002, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__timm-lamb.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=timm-lamb -o recipe__EconomicGrasp__optimizer__timm-lamb.yaml", "config_hash": "411bb49ec42bd920", "run": "2026-10-16@1c8fd45", "seconds": 170.9},
  {"id": "recipe/FineGrasp/optimizer/timm-lamb", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=timm-lamb", "level1": "runs", "outcome": "diverging", "reasons": ["loss/angle rises +16 % over the last half; the reference -16 %", "loss/depth rises +13 % over the last half; the reference -14 %", "loss/score rises +16 % over the last half; the reference -13 %", "loss/objectness 6.880x the reference (tolerance 1.25)", "loss/graspness 4.337x the reference (tolerance 1.25)", "loss/width 1.966x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.6183, 0.08986, 6.88], "loss/graspness": [0.2048, 0.04722, 4.337], "loss/view": [0.7, 0.7334, 0.955], "loss/angle": [0.8301, 0.9369, 0.886], "loss/depth": [0.4188, 0.4363, 0.96], "loss/score": [0.7134, 0.8125, 0.878], "loss/width": [0.6194, 0.3151, 1.966]}, "rise": {"loss/objectness": -0.067, "loss/graspness": -0.384, "loss/view": -0.409, "loss/angle": 0.157, "loss/depth": 0.128, "loss/score": 0.16, "loss/width": -0.063}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.23, -1.189, -1.198, -1.233], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__timm-lamb.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=timm-lamb -o recipe__FineGrasp__optimizer__timm-lamb.yaml", "config_hash": "532a57448c852552", "run": "2026-10-16@1c8fd45", "seconds": 536.3},
  {"id": "recipe/GraspNet-baseline/optimizer/timm-lamb", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=timm-lamb", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.71x"], "terms": {"loss/objectness": [0.3813, 0.3739, 1.02], "loss/view": [0.03102, 0.02976, 1.042], "loss/score": [0.02397, 0.02246, 1.067], "loss/angle": [0.3461, 0.3337, 1.037], "loss/width": [0.01116, 0.01289, 0.866], "loss/tolerance": [0.01418, 0.02008, 0.706]}, "rise": {"loss/objectness": -0.126, "loss/view": -0.09, "loss/score": -0.115, "loss/angle": -0.064, "loss/width": -0.314, "loss/tolerance": -0.613}, "grasps_per_frame": [405, 281, 587, 486], "no_gradient": [], "unchanged": [], "score_median": [0.147, 0.1056, 0.09362, 0.0527], "checked": [14, 4], "schedule": "constant", "rate": 0.002, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__timm-lamb.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=timm-lamb -o recipe__GraspNet-baseline__optimizer__timm-lamb.yaml", "config_hash": "5b3492d381d847da", "run": "2026-10-16@1c8fd45", "seconds": 91.6},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/timm-lamb", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=timm-lamb", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.78x"], "terms": {"loss/objectness": [0.2075, 0.1975, 1.051], "loss/view": [0.09397, 0.08244, 1.14], "loss/score": [0.01661, 0.01418, 1.171], "loss/angle": [0.3591, 0.3132, 1.147], "loss/width": [0.01105, 0.01146, 0.964], "loss/tolerance": [0.005542, 0.007067, 0.784]}, "rise": {"loss/objectness": -0.15, "loss/view": -0.072, "loss/score": -0.086, "loss/angle": -0.058, "loss/width": -0.51, "loss/tolerance": -0.649}, "grasps_per_frame": [89, 102, 84, 61], "no_gradient": [], "unchanged": [], "score_median": [0.005117, 0.04698, 0.04759, 0.002343], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__timm-lamb.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=timm-lamb -o recipe__Scale-Balanced-Grasp__optimizer__timm-lamb.yaml", "config_hash": "2c16bc28940aa004", "run": "2026-10-16@1c8fd45", "seconds": 133.9},
  {"id": "recipe/HGGD/optimizer/timm-lamb", "kind": "recipe", "method": "HGGD", "option": "optimizer=timm-lamb", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.444, 1.405, 1.028], "loss/angle": [0.5945, 0.6582, 0.903], "loss/offsets": [0.2546, 0.2157, 1.181], "loss/anchor": [0.8248, 0.7677, 1.074], "loss/anchor_offset": [0.2141, 0.1935, 1.106]}, "rise": {"loss/heatmap": -0.256, "loss/angle": -0.865, "loss/offsets": -0.162, "loss/anchor": -0.218, "loss/anchor_offset": -0.086}, "grasps_per_frame": [469, 480, 470, 460], "no_gradient": [], "unchanged": [], "score_median": [0.1879, 0.1896, 0.1918, 0.1923], "checked": [17, 2], "schedule": "constant", "rate": 0.002, "probe": "grasppanda probe recipe__HGGD__optimizer__timm-lamb.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=timm-lamb -o recipe__HGGD__optimizer__timm-lamb.yaml", "config_hash": "89d2b1b63fa656ec", "run": "2026-10-16@1c8fd45", "seconds": 183.1},
  {"id": "recipe/GSNet/optimizer/timm-lion", "kind": "recipe", "method": "GSNet", "option": "optimizer=timm-lion", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.993x the reference (tolerance 1.25)", "loss/graspness 2.726x the reference (tolerance 1.25)", "loss/width 1.809x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.66x, loss/score 0.29x"], "terms": {"loss/objectness": [0.6235, 0.1562, 3.993], "loss/graspness": [0.2071, 0.07598, 2.726], "loss/view": [0.5585, 0.8476, 0.659], "loss/score": [0.009214, 0.0313, 0.294], "loss/width": [0.1828, 0.101, 1.809]}, "rise": {"loss/objectness": -0.023, "loss/graspness": -0.055, "loss/view": 0.215, "loss/score": -0.18, "loss/width": 0.003}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.03472, 0.03757, 0.03942, 0.1063], "checked": [12, 5], "schedule": "constant", "rate": 0.0001, "probe": "grasppanda probe recipe__GSNet__optimizer__timm-lion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=timm-lion -o recipe__GSNet__optimizer__timm-lion.yaml", "config_hash": "fbee2c473ac3e06e", "run": "2026-10-16@1c8fd45", "seconds": 131.8},
  {"id": "recipe/EconomicGrasp/optimizer/timm-lion", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=timm-lion", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.749x the reference (tolerance 1.25)", "loss/graspness 2.742x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.63x, loss/depth 0.66x, loss/score 0.63x"], "terms": {"loss/objectness": [0.4719, 0.1259, 3.749], "loss/graspness": [0.1738, 0.06338, 2.742], "loss/view": [0.8833, 0.8303, 1.064], "loss/angle": [0.9746, 1.543, 0.631], "loss/depth": [0.5161, 0.7779, 0.664], "loss/score": [0.8239, 1.31, 0.629], "loss/width": [0.7094, 0.5737, 1.236]}, "rise": {"loss/objectness": -0.143, "loss/graspness": -0.146, "loss/view": 0.095, "loss/angle": 0.099, "loss/depth": 0.089, "loss/score": 0.091, "loss/width": 0.04}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.595, -3.604, -3.604, -3.604], "checked": [15, 5], "schedule": "constant", "rate": 0.0001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__timm-lion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=timm-lion -o recipe__EconomicGrasp__optimizer__timm-lion.yaml", "config_hash": "f85b2195af22843f", "run": "2026-10-16@1c8fd45", "seconds": 149.9},
  {"id": "recipe/FineGrasp/optimizer/timm-lion", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=timm-lion", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 7.163x the reference (tolerance 1.25)", "loss/graspness 4.640x the reference (tolerance 1.25)", "loss/width 2.132x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.78x, loss/score 0.78x"], "terms": {"loss/objectness": [0.6437, 0.08986, 7.163], "loss/graspness": [0.2191, 0.04722, 4.64], "loss/view": [0.6909, 0.7334, 0.942], "loss/angle": [0.7319, 0.9369, 0.781], "loss/depth": [0.3963, 0.4363, 0.908], "loss/score": [0.6325, 0.8125, 0.778], "loss/width": [0.6718, 0.3151, 2.132]}, "rise": {"loss/objectness": -0.033, "loss/graspness": -0.29, "loss/view": -0.3, "loss/angle": 0.014, "loss/depth": 0.003, "loss/score": 0.017, "loss/width": 0.009}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.325, -1.327, -1.325, -1.318], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__timm-lion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=timm-lion -o recipe__FineGrasp__optimizer__timm-lion.yaml", "config_hash": "e145f2cafa9db3d3", "run": "2026-10-16@1c8fd45", "seconds": 528.6},
  {"id": "recipe/GraspNet-baseline/optimizer/timm-lion", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=timm-lion", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.427x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4381, 0.3739, 1.172], "loss/view": [0.03273, 0.02976, 1.1], "loss/score": [0.02678, 0.02246, 1.192], "loss/angle": [0.3884, 0.3337, 1.164], "loss/width": [0.01465, 0.01289, 1.136], "loss/tolerance": [0.02864, 0.02008, 1.427]}, "rise": {"loss/objectness": -0.063, "loss/view": -0.159, "loss/score": -0.116, "loss/angle": -0.059, "loss/width": -0.543, "loss/tolerance": -0.601}, "grasps_per_frame": [486, 23, 448, 314], "no_gradient": [], "unchanged": [], "score_median": [0.1966, 0.3057, 0.1541, 0.2313], "checked": [14, 4], "schedule": "constant", "rate": 0.0001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__timm-lion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=timm-lion -o recipe__GraspNet-baseline__optimizer__timm-lion.yaml", "config_hash": "3fddcba2ceebe908", "run": "2026-10-16@1c8fd45", "seconds": 89.7},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/timm-lion", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=timm-lion", "level1": "runs-empty", "outcome": "diverging", "reasons": ["loss/tolerance rises +27 % over the last half; the reference -23 %", "no grasp on any of the 4 frames", "loss/objectness 1.751x the reference (tolerance 1.25)", "loss/tolerance 2.341x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3458, 0.1975, 1.751], "loss/view": [0.09485, 0.08244, 1.151], "loss/score": [0.01503, 0.01418, 1.06], "loss/angle": [0.35, 0.3132, 1.117], "loss/width": [0.01071, 0.01146, 0.935], "loss/tolerance": [0.01655, 0.007067, 2.341]}, "rise": {"loss/objectness": 0.099, "loss/view": 0.019, "loss/score": -0.101, "loss/angle": -0.013, "loss/width": -0.015, "loss/tolerance": 0.267}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__timm-lion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=timm-lion -o recipe__Scale-Balanced-Grasp__optimizer__timm-lion.yaml", "config_hash": "04427ab2eb1f2a6b", "run": "2026-10-16@1c8fd45", "seconds": 130.9},
  {"id": "recipe/HGGD/optimizer/timm-lion", "kind": "recipe", "method": "HGGD", "option": "optimizer=timm-lion", "level1": "runs", "outcome": "worse", "reasons": ["loss/heatmap 1.810x the reference (tolerance 1.55)", "loss/angle 99.911x the reference (tolerance 1.55)", "loss/anchor 3.079x the reference (tolerance 1.55)", "loss/anchor_offset 1.558x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [2.543, 1.405, 1.81], "loss/angle": [65.76, 0.6582, 99.911], "loss/offsets": [0.3295, 0.2157, 1.528], "loss/anchor": [2.364, 0.7677, 3.079], "loss/anchor_offset": [0.3015, 0.1935, 1.558]}, "rise": {"loss/heatmap": -0.748, "loss/angle": -0.304, "loss/offsets": -0.125, "loss/anchor": -0.774, "loss/anchor_offset": -0.157}, "grasps_per_frame": [384, 378, 376, 327], "no_gradient": [], "unchanged": [], "score_median": [0.1591, 0.1591, 0.1587, 0.167], "checked": [17, 2], "schedule": "constant", "rate": 0.0001, "probe": "grasppanda probe recipe__HGGD__optimizer__timm-lion.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=timm-lion -o recipe__HGGD__optimizer__timm-lion.yaml", "config_hash": "e31526ee89097693", "run": "2026-10-16@1c8fd45", "seconds": 193.5},
  {"id": "recipe/GSNet/optimizer/timm-madgrad", "kind": "recipe", "method": "GSNet", "option": "optimizer=timm-madgrad", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.64x"], "terms": {"loss/objectness": [0.126, 0.1562, 0.807], "loss/graspness": [0.04836, 0.07598, 0.637], "loss/view": [0.8405, 0.8476, 0.992], "loss/score": [0.03414, 0.0313, 1.091], "loss/width": [0.09313, 0.101, 0.922]}, "rise": {"loss/objectness": -0.097, "loss/graspness": -0.376, "loss/view": 0.091, "loss/score": 0.253, "loss/width": -0.121}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06281, 0.06938, 0.06616, 0.06832], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__timm-madgrad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=timm-madgrad -o recipe__GSNet__optimizer__timm-madgrad.yaml", "config_hash": "0cbeab55e2f20c5f", "run": "2026-10-16@1c8fd45", "seconds": 133.3},
  {"id": "recipe/EconomicGrasp/optimizer/timm-madgrad", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=timm-madgrad", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1206, 0.1259, 0.958], "loss/graspness": [0.058, 0.06338, 0.915], "loss/view": [0.856, 0.8303, 1.031], "loss/angle": [1.447, 1.543, 0.938], "loss/depth": [0.7187, 0.7779, 0.924], "loss/score": [1.222, 1.31, 0.933], "loss/width": [0.4994, 0.5737, 0.87]}, "rise": {"loss/objectness": 0.062, "loss/graspness": 0.053, "loss/view": -0.002, "loss/angle": -0.08, "loss/depth": -0.106, "loss/score": -0.09, "loss/width": -0.152}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.765, -1.717, -1.775, -1.283], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__timm-madgrad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=timm-madgrad -o recipe__EconomicGrasp__optimizer__timm-madgrad.yaml", "config_hash": "a9f40ef26504ca7d", "run": "2026-10-16@1c8fd45", "seconds": 153.9},
  {"id": "recipe/FineGrasp/optimizer/timm-madgrad", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=timm-madgrad", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.700x the reference (tolerance 1.25)", "loss/angle 1.265x the reference (tolerance 1.25)", "loss/depth 1.253x the reference (tolerance 1.25)", "loss/width 1.561x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1092, 0.08986, 1.215], "loss/graspness": [0.08028, 0.04722, 1.7], "loss/view": [0.7705, 0.7334, 1.051], "loss/angle": [1.185, 0.9369, 1.265], "loss/depth": [0.5467, 0.4363, 1.253], "loss/score": [0.9828, 0.8125, 1.21], "loss/width": [0.4919, 0.3151, 1.561]}, "rise": {"loss/objectness": -0.087, "loss/graspness": -0.182, "loss/view": 0.002, "loss/angle": -0.098, "loss/depth": -0.157, "loss/score": -0.127, "loss/width": -0.284}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.63, -1.466, -1.663, -1.81], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__timm-madgrad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=timm-madgrad -o recipe__FineGrasp__optimizer__timm-madgrad.yaml", "config_hash": "83123ec8a366620d", "run": "2026-10-16@1c8fd45", "seconds": 527.8},
  {"id": "recipe/GraspNet-baseline/optimizer/timm-madgrad", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=timm-madgrad", "level1": "runs", "outcome": "diverging", "reasons": ["loss/width rises +18 % over the last half; the reference -18 %"], "notes": ["lower than the reference: loss/tolerance 0.60x"], "terms": {"loss/objectness": [0.346, 0.3739, 0.925], "loss/view": [0.03015, 0.02976, 1.013], "loss/score": [0.02073, 0.02246, 0.923], "loss/angle": [0.3125, 0.3337, 0.937], "loss/width": [0.01259, 0.01289, 0.977], "loss/tolerance": [0.0121, 0.02008, 0.602]}, "rise": {"loss/objectness": -0.151, "loss/view": -0.057, "loss/score": -0.061, "loss/angle": -0.068, "loss/width": 0.177, "loss/tolerance": -0.141}, "grasps_per_frame": [460, 265, 430, 379], "no_gradient": [], "unchanged": [], "score_median": [0.05808, 0.06873, 0.08453, 0.05317], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__timm-madgrad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=timm-madgrad -o recipe__GraspNet-baseline__optimizer__timm-madgrad.yaml", "config_hash": "bff326609fef2f62", "run": "2026-10-16@1c8fd45", "seconds": 88.1},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/timm-madgrad", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=timm-madgrad", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/width 1.283x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/tolerance 0.61x"], "terms": {"loss/objectness": [0.1915, 0.1975, 0.97], "loss/view": [0.08526, 0.08244, 1.034], "loss/score": [0.01329, 0.01418, 0.937], "loss/angle": [0.2956, 0.3132, 0.944], "loss/width": [0.01469, 0.01146, 1.283], "loss/tolerance": [0.004329, 0.007067, 0.613]}, "rise": {"loss/objectness": -0.093, "loss/view": -0.019, "loss/score": -0.043, "loss/angle": -0.086, "loss/width": 0.203, "loss/tolerance": 0.077}, "grasps_per_frame": [163, 243, 189, 198], "no_gradient": [], "unchanged": [], "score_median": [0.05632, 0.06058, 0.06446, 0.07193], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__timm-madgrad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=timm-madgrad -o recipe__Scale-Balanced-Grasp__optimizer__timm-madgrad.yaml", "config_hash": "544204238c52c2c6", "run": "2026-10-16@1c8fd45", "seconds": 136.9},
  {"id": "recipe/HGGD/optimizer/timm-madgrad", "kind": "recipe", "method": "HGGD", "option": "optimizer=timm-madgrad", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.387, 1.405, 0.987], "loss/angle": [0.8583, 0.6582, 1.304], "loss/offsets": [0.2986, 0.2157, 1.385], "loss/anchor": [0.8528, 0.7677, 1.111], "loss/anchor_offset": [0.2163, 0.1935, 1.118]}, "rise": {"loss/heatmap": -0.09, "loss/angle": -0.041, "loss/offsets": -0.073, "loss/anchor": -0.028, "loss/anchor_offset": 0.032}, "grasps_per_frame": [480, 480, 459, 460], "no_gradient": [], "unchanged": [], "score_median": [0.1743, 0.1743, 0.1746, 0.175], "checked": [17, 2], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__HGGD__optimizer__timm-madgrad.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=timm-madgrad -o recipe__HGGD__optimizer__timm-madgrad.yaml", "config_hash": "4198909e94c91875", "run": "2026-10-16@1c8fd45", "seconds": 182.6},
  {"id": "recipe/GSNet/optimizer/timm-mars", "kind": "recipe", "method": "GSNet", "option": "optimizer=timm-mars", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1511, 0.1562, 0.967], "loss/graspness": [0.06922, 0.07598, 0.911], "loss/view": [0.8425, 0.8476, 0.994], "loss/score": [0.02971, 0.0313, 0.949], "loss/width": [0.09596, 0.101, 0.95]}, "rise": {"loss/objectness": -0.373, "loss/graspness": -0.445, "loss/view": 0.239, "loss/score": 0.306, "loss/width": -0.112}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06092, 0.06405, 0.06572, 0.07184], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__optimizer__timm-mars.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set optimizer=timm-mars -o recipe__GSNet__optimizer__timm-mars.yaml", "config_hash": "e6d66fad11905f0c", "run": "2026-10-16@1c8fd45", "seconds": 145.0},
  {"id": "recipe/EconomicGrasp/optimizer/timm-mars", "kind": "recipe", "method": "EconomicGrasp", "option": "optimizer=timm-mars", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1273, 0.1259, 1.011], "loss/graspness": [0.07063, 0.06338, 1.114], "loss/view": [0.8538, 0.8303, 1.028], "loss/angle": [1.385, 1.543, 0.897], "loss/depth": [0.6911, 0.7779, 0.888], "loss/score": [1.175, 1.31, 0.897], "loss/width": [0.4795, 0.5737, 0.836]}, "rise": {"loss/objectness": -0.111, "loss/graspness": -0.284, "loss/view": 0.039, "loss/angle": 0.005, "loss/depth": -0.004, "loss/score": 0.005, "loss/width": -0.213}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.984, -2.664, -2.627, -2.702], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__optimizer__timm-mars.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set optimizer=timm-mars -o recipe__EconomicGrasp__optimizer__timm-mars.yaml", "config_hash": "7bf1bcd242e26a1f", "run": "2026-10-16@1c8fd45", "seconds": 155.6},
  {"id": "recipe/FineGrasp/optimizer/timm-mars", "kind": "recipe", "method": "FineGrasp", "option": "optimizer=timm-mars", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.450x the reference (tolerance 1.25)", "loss/graspness 1.703x the reference (tolerance 1.25)", "loss/angle 1.260x the reference (tolerance 1.25)", "loss/width 1.614x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1303, 0.08986, 1.45], "loss/graspness": [0.0804, 0.04722, 1.703], "loss/view": [0.7433, 0.7334, 1.013], "loss/angle": [1.181, 0.9369, 1.26], "loss/depth": [0.544, 0.4363, 1.247], "loss/score": [0.9814, 0.8125, 1.208], "loss/width": [0.5085, 0.3151, 1.614]}, "rise": {"loss/objectness": -0.518, "loss/graspness": -0.324, "loss/view": -0.038, "loss/angle": 0.064, "loss/depth": -0.011, "loss/score": 0.045, "loss/width": -0.194}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.097, -0.7838, -1.046, -0.9317], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__optimizer__timm-mars.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set optimizer=timm-mars -o recipe__FineGrasp__optimizer__timm-mars.yaml", "config_hash": "19c0b52460f79ff9", "run": "2026-10-16@1c8fd45", "seconds": 546.8},
  {"id": "recipe/GraspNet-baseline/optimizer/timm-mars", "kind": "recipe", "method": "GraspNet-baseline", "option": "optimizer=timm-mars", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.66x"], "terms": {"loss/objectness": [0.3658, 0.3739, 0.979], "loss/view": [0.02949, 0.02976, 0.991], "loss/score": [0.02369, 0.02246, 1.055], "loss/angle": [0.3153, 0.3337, 0.945], "loss/width": [0.01189, 0.01289, 0.923], "loss/tolerance": [0.01335, 0.02008, 0.665]}, "rise": {"loss/objectness": -0.103, "loss/view": -0.047, "loss/score": -0.007, "loss/angle": -0.057, "loss/width": -0.06, "loss/tolerance": -0.32}, "grasps_per_frame": [262, 404, 404, 434], "no_gradient": [], "unchanged": [], "score_median": [0.03841, 0.07971, 0.1051, 0.1131], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__optimizer__timm-mars.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set optimizer=timm-mars -o recipe__GraspNet-baseline__optimizer__timm-mars.yaml", "config_hash": "f20edaef5a3d83f7", "run": "2026-10-16@1c8fd45", "seconds": 98.3},
  {"id": "recipe/Scale-Balanced-Grasp/optimizer/timm-mars", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "optimizer=timm-mars", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1811, 0.1975, 0.917], "loss/view": [0.0819, 0.08244, 0.993], "loss/score": [0.01245, 0.01418, 0.878], "loss/angle": [0.2883, 0.3132, 0.92], "loss/width": [0.01126, 0.01146, 0.983], "loss/tolerance": [0.00668, 0.007067, 0.945]}, "rise": {"loss/objectness": -0.107, "loss/view": -0.023, "loss/score": -0.052, "loss/angle": -0.086, "loss/width": -0.045, "loss/tolerance": -0.251}, "grasps_per_frame": [1, 2, 3, 1], "no_gradient": [], "unchanged": [], "score_median": [0.08702, 0.104, 0.003695, -0.103], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__optimizer__timm-mars.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set optimizer=timm-mars -o recipe__Scale-Balanced-Grasp__optimizer__timm-mars.yaml", "config_hash": "3d55b128c31da39f", "run": "2026-10-16@1c8fd45", "seconds": 135.9},
  {"id": "recipe/HGGD/optimizer/timm-mars", "kind": "recipe", "method": "HGGD", "option": "optimizer=timm-mars", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 4.219x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.457, 1.405, 1.037], "loss/angle": [2.777, 0.6582, 4.219], "loss/offsets": [0.2735, 0.2157, 1.268], "loss/anchor": [0.8338, 0.7677, 1.086], "loss/anchor_offset": [0.1941, 0.1935, 1.003]}, "rise": {"loss/heatmap": -0.181, "loss/angle": -0.883, "loss/offsets": -0.136, "loss/anchor": -0.118, "loss/anchor_offset": -0.192}, "grasps_per_frame": [479, 429, 469, 430], "no_gradient": [], "unchanged": [], "score_median": [0.1738, 0.1797, 0.1804, 0.1805], "checked": [17, 2], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__HGGD__optimizer__timm-mars.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set optimizer=timm-mars -o recipe__HGGD__optimizer__timm-mars.yaml", "config_hash": "6c3ac820b53bd53c", "run": "2026-10-16@1c8fd45", "seconds": 191.7},
  {"id": "recipe/GSNet/schedule/constant", "kind": "recipe", "method": "GSNet", "option": "schedule=constant", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1566, 0.1562, 1.003], "loss/graspness": [0.07438, 0.07598, 0.979], "loss/view": [0.8461, 0.8476, 0.998], "loss/score": [0.03186, 0.0313, 1.018], "loss/width": [0.1, 0.101, 0.99]}, "rise": {"loss/objectness": -0.223, "loss/graspness": -0.39, "loss/view": 0.229, "loss/score": 0.286, "loss/width": -0.083}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06396, 0.07199, 0.06853, 0.0715], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__schedule__constant.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set schedule=constant -o recipe__GSNet__schedule__constant.yaml", "config_hash": "2d9ff2ea91020c89", "run": "2026-10-16@1c8fd45", "seconds": 138.1},
  {"id": "recipe/EconomicGrasp/schedule/constant", "kind": "recipe", "method": "EconomicGrasp", "option": "schedule=constant", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1296, 0.1259, 1.029], "loss/graspness": [0.06813, 0.06338, 1.075], "loss/view": [0.8339, 0.8303, 1.004], "loss/angle": [1.489, 1.543, 0.965], "loss/depth": [0.7408, 0.7779, 0.952], "loss/score": [1.256, 1.31, 0.959], "loss/width": [0.5864, 0.5737, 1.022]}, "rise": {"loss/objectness": -0.116, "loss/graspness": -0.39, "loss/view": 0.035, "loss/angle": 0.013, "loss/depth": -0.004, "loss/score": 0.011, "loss/width": -0.104}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.321, -0.8593, -1.162, 0.2123], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__schedule__constant.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set schedule=constant -o recipe__EconomicGrasp__schedule__constant.yaml", "config_hash": "aec46757ecf8d87e", "run": "2026-10-16@1c8fd45", "seconds": 154.5},
  {"id": "recipe/FineGrasp/schedule/constant", "kind": "recipe", "method": "FineGrasp", "option": "schedule=constant", "level1": "runs-unstable", "outcome": "diverging", "reasons": ["loss/graspness rises +26 % over the last half; the reference -28 %", "loss/objectness 3.521x the reference (tolerance 1.25)", "loss/graspness 4.384x the reference (tolerance 1.25)", "loss/angle 1.652x the reference (tolerance 1.25)", "loss/depth 1.804x the reference (tolerance 1.25)", "loss/score 1.568x the reference (tolerance 1.25)", "loss/width 2.276x the reference (tolerance 1.25)"], "notes": ["unstable: 6 of 250 iterations had no real seed (iteration 2, 3, 10, 11, 23, 24)."], "terms": {"loss/objectness": [0.3164, 0.08986, 3.521], "loss/graspness": [0.207, 0.04722, 4.384], "loss/view": [0.7497, 0.7334, 1.022], "loss/angle": [1.548, 0.9369, 1.652], "loss/depth": [0.787, 0.4363, 1.804], "loss/score": [1.274, 0.8125, 1.568], "loss/width": [0.7172, 0.3151, 2.276]}, "rise": {"loss/objectness": 0.093, "loss/graspness": 0.257, "loss/view": -0.026, "loss/angle": -0.024, "loss/depth": -0.041, "loss/score": -0.021, "loss/width": 0.022}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.768, -3.768, -3.768, -3.768], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__schedule__constant.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set schedule=constant -o recipe__FineGrasp__schedule__constant.yaml", "config_hash": "d81bf35e3bc53253", "run": "2026-10-16@1c8fd45", "seconds": 527.8},
  {"id": "recipe/GraspNet-baseline/schedule/constant", "kind": "recipe", "method": "GraspNet-baseline", "option": "schedule=constant", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3596, 0.3739, 0.962], "loss/view": [0.0296, 0.02976, 0.995], "loss/score": [0.02229, 0.02246, 0.992], "loss/angle": [0.3279, 0.3337, 0.983], "loss/width": [0.0141, 0.01289, 1.094], "loss/tolerance": [0.01893, 0.02008, 0.943]}, "rise": {"loss/objectness": -0.078, "loss/view": -0.032, "loss/score": -0.034, "loss/angle": -0.051, "loss/width": -0.102, "loss/tolerance": -0.264}, "grasps_per_frame": [609, 802, 13, 48], "no_gradient": [], "unchanged": [], "score_median": [0.3398, 1.348, -2.914, 0.007044], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__schedule__constant.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set schedule=constant -o recipe__GraspNet-baseline__schedule__constant.yaml", "config_hash": "242ea3178516cfc3", "run": "2026-10-16@1c8fd45", "seconds": 93.1},
  {"id": "recipe/Scale-Balanced-Grasp/schedule/constant", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "schedule=constant", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames"], "terms": {"loss/objectness": [0.1975, 0.1975, 1.0], "loss/view": [0.08244, 0.08244, 1.0], "loss/score": [0.01418, 0.01418, 1.0], "loss/angle": [0.3132, 0.3132, 1.0], "loss/width": [0.01146, 0.01146, 1.0], "loss/tolerance": [0.007067, 0.007067, 1.0]}, "rise": {"loss/objectness": -0.092, "loss/view": -0.016, "loss/score": 0.004, "loss/angle": -0.062, "loss/width": 0.136, "loss/tolerance": -0.228}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__schedule__constant.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set schedule=constant -o recipe__Scale-Balanced-Grasp__schedule__constant.yaml", "config_hash": "8188196a69a0143e", "run": "2026-10-16@1c8fd45", "seconds": 128.3},
  {"id": "recipe/HGGD/schedule/constant", "kind": "recipe", "method": "HGGD", "option": "schedule=constant", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.411, 1.405, 1.005], "loss/angle": [0.6577, 0.6582, 0.999], "loss/offsets": [0.2136, 0.2157, 0.99], "loss/anchor": [0.7747, 0.7677, 1.009], "loss/anchor_offset": [0.2072, 0.1935, 1.07]}, "rise": {"loss/heatmap": -0.021, "loss/angle": -0.136, "loss/offsets": -0.142, "loss/anchor": -0.082, "loss/anchor_offset": -0.07}, "grasps_per_frame": [480, 480, 480, 479], "no_gradient": [], "unchanged": [], "score_median": [0.1934, 0.1917, 0.1917, 0.1888], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__schedule__constant.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set schedule=constant -o recipe__HGGD__schedule__constant.yaml", "config_hash": "98f69058686c280b", "run": "2026-10-16@1c8fd45", "seconds": 180.2},
  {"id": "recipe/GSNet/schedule/cosine-restarts", "kind": "recipe", "method": "GSNet", "option": "schedule=cosine-restarts", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 3.800x the reference (tolerance 1.25)", "loss/graspness 3.801x the reference (tolerance 1.25)", "loss/score 2.696x the reference (tolerance 1.25)", "loss/width 2.611x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.49x"], "terms": {"loss/objectness": [0.5935, 0.1562, 3.8], "loss/graspness": [0.2888, 0.07598, 3.801], "loss/view": [0.4128, 0.8476, 0.487], "loss/score": [0.08437, 0.0313, 2.696], "loss/width": [0.2638, 0.101, 2.611]}, "rise": {"loss/objectness": -0.008, "loss/graspness": -0.027, "loss/view": -0.006, "loss/score": -0.023, "loss/width": 0.014}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.2325, 0.2195, 0.2265, 0.2401], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__schedule__cosine-restarts.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set schedule=cosine-restarts -o recipe__GSNet__schedule__cosine-restarts.yaml", "config_hash": "4ccb2ecd997b09e0", "run": "2026-10-16@1c8fd45", "seconds": 148.9},
  {"id": "recipe/EconomicGrasp/schedule/cosine-restarts", "kind": "recipe", "method": "EconomicGrasp", "option": "schedule=cosine-restarts", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 5.170x the reference (tolerance 1.25)", "loss/graspness 5.846x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.47x, loss/depth 0.52x, loss/score 0.47x"], "terms": {"loss/objectness": [0.6509, 0.1259, 5.17], "loss/graspness": [0.3705, 0.06338, 5.846], "loss/view": [0.7632, 0.8303, 0.919], "loss/angle": [0.7281, 1.543, 0.472], "loss/depth": [0.4045, 0.7779, 0.52], "loss/score": [0.6148, 1.31, 0.469], "loss/width": [0.6905, 0.5737, 1.204]}, "rise": {"loss/objectness": -0.002, "loss/graspness": -0.059, "loss/view": -0.008, "loss/angle": -0.009, "loss/depth": -0.017, "loss/score": -0.004, "loss/width": -0.012}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.855, -2.9, -2.859, -2.855], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__schedule__cosine-restarts.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set schedule=cosine-restarts -o recipe__EconomicGrasp__schedule__cosine-restarts.yaml", "config_hash": "869d01b20e883c59", "run": "2026-10-16@1c8fd45", "seconds": 159.6},
  {"id": "recipe/FineGrasp/schedule/cosine-restarts", "kind": "recipe", "method": "FineGrasp", "option": "schedule=cosine-restarts", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 7.569x the reference (tolerance 1.25)", "loss/graspness 15.995x the reference (tolerance 1.25)", "loss/width 2.289x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.67x, loss/score 0.67x", "unstable: 2 of 250 iterations had no real seed (iteration 2, 3)."], "terms": {"loss/objectness": [0.6802, 0.08986, 7.569], "loss/graspness": [0.7553, 0.04722, 15.995], "loss/view": [0.6718, 0.7334, 0.916], "loss/angle": [0.625, 0.9369, 0.667], "loss/depth": [0.3676, 0.4363, 0.842], "loss/score": [0.545, 0.8125, 0.671], "loss/width": [0.7214, 0.3151, 2.289]}, "rise": {"loss/objectness": -0.001, "loss/graspness": -0.052, "loss/view": 0.001, "loss/angle": 0.016, "loss/depth": 0.004, "loss/score": 0.019, "loss/width": 0.002}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.453, -2.453, -2.453, -2.453], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__schedule__cosine-restarts.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set schedule=cosine-restarts -o recipe__FineGrasp__schedule__cosine-restarts.yaml", "config_hash": "2b3fcccb615bb33e", "run": "2026-10-16@1c8fd45", "seconds": 522.4},
  {"id": "recipe/GraspNet-baseline/schedule/cosine-restarts", "kind": "recipe", "method": "GraspNet-baseline", "option": "schedule=cosine-restarts", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.448x the reference (tolerance 1.25)", "loss/view 2.527x the reference (tolerance 1.25)", "loss/score 1.592x the reference (tolerance 1.25)", "loss/angle 1.394x the reference (tolerance 1.25)", "loss/width 9.862x the reference (tolerance 1.25)", "loss/tolerance 17.459x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.5415, 0.3739, 1.448], "loss/view": [0.0752, 0.02976, 2.527], "loss/score": [0.03576, 0.02246, 1.592], "loss/angle": [0.4652, 0.3337, 1.394], "loss/width": [0.1271, 0.01289, 9.862], "loss/tolerance": [0.3505, 0.02008, 17.459]}, "rise": {"loss/objectness": -0.005, "loss/view": 0.004, "loss/score": -0.018, "loss/angle": 0.002, "loss/width": 0.003, "loss/tolerance": -0.0}, "grasps_per_frame": [259, 151, 357, 166], "no_gradient": [], "unchanged": [], "score_median": [0.1393, 0.6566, 0.1413, -0.1411], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__schedule__cosine-restarts.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set schedule=cosine-restarts -o recipe__GraspNet-baseline__schedule__cosine-restarts.yaml", "config_hash": "b8adac9ba047e487", "run": "2026-10-16@1c8fd45", "seconds": 87.5},
  {"id": "recipe/Scale-Balanced-Grasp/schedule/cosine-restarts", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "schedule=cosine-restarts", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.527x the reference (tolerance 1.25)", "loss/view 1.404x the reference (tolerance 1.25)", "loss/score 1.471x the reference (tolerance 1.25)", "loss/angle 1.370x the reference (tolerance 1.25)", "loss/width 9.043x the reference (tolerance 1.25)", "loss/tolerance 26.738x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3016, 0.1975, 1.527], "loss/view": [0.1157, 0.08244, 1.404], "loss/score": [0.02085, 0.01418, 1.471], "loss/angle": [0.4291, 0.3132, 1.37], "loss/width": [0.1036, 0.01146, 9.043], "loss/tolerance": [0.189, 0.007067, 26.738]}, "rise": {"loss/objectness": 0.008, "loss/view": 0.019, "loss/score": 0.011, "loss/angle": 0.004, "loss/width": -0.031, "loss/tolerance": -0.029}, "grasps_per_frame": [48, 26, 25, 2], "no_gradient": [], "unchanged": [], "score_median": [0.7327, 0.4892, 0.2235, 3.036], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__schedule__cosine-restarts.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set schedule=cosine-restarts -o recipe__Scale-Balanced-Grasp__schedule__cosine-restarts.yaml", "config_hash": "daca1521e18048da", "run": "2026-10-16@1c8fd45", "seconds": 128.3},
  {"id": "recipe/HGGD/schedule/cosine-restarts", "kind": "recipe", "method": "HGGD", "option": "schedule=cosine-restarts", "level1": "runs", "outcome": "worse", "reasons": ["loss/heatmap 2.900x the reference (tolerance 1.55)", "loss/angle 367.913x the reference (tolerance 1.55)", "loss/offsets 2.210x the reference (tolerance 1.55)", "loss/anchor 2.672x the reference (tolerance 1.55)", "loss/anchor_offset 5.054x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [4.074, 1.405, 2.9], "loss/angle": [242.2, 0.6582, 367.913], "loss/offsets": [0.4766, 0.2157, 2.21], "loss/anchor": [2.051, 0.7677, 2.672], "loss/anchor_offset": [0.9782, 0.1935, 5.054]}, "rise": {"loss/heatmap": -0.007, "loss/angle": -0.005, "loss/offsets": 0.001, "loss/anchor": -0.005, "loss/anchor_offset": 0.054}, "grasps_per_frame": [350, 341, 331, 306], "no_gradient": [], "unchanged": [], "score_median": [0.02069, 0.02068, 0.02068, 0.01936], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__schedule__cosine-restarts.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set schedule=cosine-restarts -o recipe__HGGD__schedule__cosine-restarts.yaml", "config_hash": "d6a1a77c6dd6b864", "run": "2026-10-16@1c8fd45", "seconds": 180.2},
  {"id": "recipe/GSNet/schedule/cosine", "kind": "recipe", "method": "GSNet", "option": "schedule=cosine", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.405x the reference (tolerance 1.25)", "loss/graspness 1.857x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.79x"], "terms": {"loss/objectness": [0.2194, 0.1562, 1.405], "loss/graspness": [0.1411, 0.07598, 1.857], "loss/view": [0.6663, 0.8476, 0.786], "loss/score": [0.02598, 0.0313, 0.83], "loss/width": [0.1126, 0.101, 1.115]}, "rise": {"loss/objectness": -0.13, "loss/graspness": -0.138, "loss/view": 0.077, "loss/score": 0.013, "loss/width": -0.015}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08842, 0.0822, 0.09443, 0.09025], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__schedule__cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set schedule=cosine -o recipe__GSNet__schedule__cosine.yaml", "config_hash": "eb4e6e9cc1296d60", "run": "2026-10-16@1c8fd45", "seconds": 138.1},
  {"id": "recipe/EconomicGrasp/schedule/cosine", "kind": "recipe", "method": "EconomicGrasp", "option": "schedule=cosine", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.288x the reference (tolerance 1.25)", "loss/graspness 2.129x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1622, 0.1259, 1.288], "loss/graspness": [0.1349, 0.06338, 2.129], "loss/view": [0.7942, 0.8303, 0.957], "loss/angle": [1.467, 1.543, 0.95], "loss/depth": [0.7422, 0.7779, 0.954], "loss/score": [1.234, 1.31, 0.942], "loss/width": [0.6948, 0.5737, 1.211]}, "rise": {"loss/objectness": -0.133, "loss/graspness": -0.119, "loss/view": 0.018, "loss/angle": 0.021, "loss/depth": 0.003, "loss/score": 0.028, "loss/width": -0.019}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.178, -2.156, -2.188, -2.155], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__schedule__cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set schedule=cosine -o recipe__EconomicGrasp__schedule__cosine.yaml", "config_hash": "613e0446027c7214", "run": "2026-10-16@1c8fd45", "seconds": 151.5},
  {"id": "recipe/FineGrasp/schedule/cosine", "kind": "recipe", "method": "FineGrasp", "option": "schedule=cosine", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 2.057x the reference (tolerance 1.25)", "loss/graspness 2.151x the reference (tolerance 1.25)", "loss/angle 1.790x the reference (tolerance 1.25)", "loss/depth 2.024x the reference (tolerance 1.25)", "loss/score 1.693x the reference (tolerance 1.25)", "loss/width 2.176x the reference (tolerance 1.25)"], "notes": ["every predicted score is the same on every frame (a constant score head)", "unstable: 4 of 250 iterations had no real seed (iteration 2, 3, 10, 11)."], "terms": {"loss/objectness": [0.1848, 0.08986, 2.057], "loss/graspness": [0.1016, 0.04722, 2.151], "loss/view": [0.8, 0.7334, 1.091], "loss/angle": [1.677, 0.9369, 1.79], "loss/depth": [0.8832, 0.4363, 2.024], "loss/score": [1.375, 0.8125, 1.693], "loss/width": [0.6858, 0.3151, 2.176]}, "rise": {"loss/objectness": -0.131, "loss/graspness": -0.142, "loss/view": -0.01, "loss/angle": 0.008, "loss/depth": 0.019, "loss/score": 0.008, "loss/width": 0.001}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.179, -3.179, -3.179, -3.179], "constant_scores": true, "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__schedule__cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set schedule=cosine -o recipe__FineGrasp__schedule__cosine.yaml", "config_hash": "f707d6f5c7df4a57", "run": "2026-10-16@1c8fd45", "seconds": 527.2},
  {"id": "recipe/GraspNet-baseline/schedule/cosine", "kind": "recipe", "method": "GraspNet-baseline", "option": "schedule=cosine", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.597x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3987, 0.3739, 1.066], "loss/view": [0.03188, 0.02976, 1.071], "loss/score": [0.02357, 0.02246, 1.049], "loss/angle": [0.3571, 0.3337, 1.07], "loss/width": [0.01501, 0.01289, 1.164], "loss/tolerance": [0.03205, 0.02008, 1.597]}, "rise": {"loss/objectness": -0.046, "loss/view": -0.018, "loss/score": -0.012, "loss/angle": -0.034, "loss/width": -0.151, "loss/tolerance": -0.219}, "grasps_per_frame": [687, 671, 346, 187], "no_gradient": [], "unchanged": [], "score_median": [-2.344, -2.313, -1.89, -2.214], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__schedule__cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set schedule=cosine -o recipe__GraspNet-baseline__schedule__cosine.yaml", "config_hash": "6a1b492725d45fe2", "run": "2026-10-16@1c8fd45", "seconds": 87.3},
  {"id": "recipe/Scale-Balanced-Grasp/schedule/cosine", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "schedule=cosine", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/tolerance 1.378x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.74x"], "terms": {"loss/objectness": [0.2117, 0.1975, 1.072], "loss/view": [0.08507, 0.08244, 1.032], "loss/score": [0.0147, 0.01418, 1.036], "loss/angle": [0.3466, 0.3132, 1.107], "loss/width": [0.008477, 0.01146, 0.74], "loss/tolerance": [0.009739, 0.007067, 1.378]}, "rise": {"loss/objectness": -0.036, "loss/view": -0.002, "loss/score": -0.01, "loss/angle": -0.017, "loss/width": -0.12, "loss/tolerance": -0.2}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__schedule__cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set schedule=cosine -o recipe__Scale-Balanced-Grasp__schedule__cosine.yaml", "config_hash": "6e39897a72b5daf3", "run": "2026-10-16@1c8fd45", "seconds": 128.7},
  {"id": "recipe/HGGD/schedule/cosine", "kind": "recipe", "method": "HGGD", "option": "schedule=cosine", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.445, 1.405, 1.028], "loss/angle": [0.8066, 0.6582, 1.225], "loss/offsets": [0.2412, 0.2157, 1.118], "loss/anchor": [0.8061, 0.7677, 1.05], "loss/anchor_offset": [0.2058, 0.1935, 1.063]}, "rise": {"loss/heatmap": -0.012, "loss/angle": -0.055, "loss/offsets": -0.115, "loss/anchor": -0.026, "loss/anchor_offset": -0.048}, "grasps_per_frame": [480, 480, 480, 470], "no_gradient": [], "unchanged": [], "score_median": [0.1764, 0.197, 0.182, 0.1975], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__schedule__cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set schedule=cosine -o recipe__HGGD__schedule__cosine.yaml", "config_hash": "0e36830a740e210e", "run": "2026-10-16@1c8fd45", "seconds": 184.3},
  {"id": "recipe/GSNet/schedule/multistep-warmup", "kind": "recipe", "method": "GSNet", "option": "schedule=multistep-warmup", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 4.319x the reference (tolerance 1.25)", "loss/graspness 3.499x the reference (tolerance 1.25)", "loss/score 1.972x the reference (tolerance 1.25)", "loss/width 2.287x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.42x"], "terms": {"loss/objectness": [0.6744, 0.1562, 4.319], "loss/graspness": [0.2659, 0.07598, 3.499], "loss/view": [0.3547, 0.8476, 0.419], "loss/score": [0.06172, 0.0313, 1.972], "loss/width": [0.2311, 0.101, 2.287]}, "rise": {"loss/objectness": -0.004, "loss/graspness": -0.065, "loss/view": 0.027, "loss/score": -0.146, "loss/width": -0.075}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.1363, 0.1425, 0.1472, 0.1939], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__schedule__multistep-warmup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set schedule=multistep-warmup -o recipe__GSNet__schedule__multistep-warmup.yaml", "config_hash": "e739544c0c49a185", "run": "2026-10-16@1c8fd45", "seconds": 141.8},
  {"id": "recipe/EconomicGrasp/schedule/multistep-warmup", "kind": "recipe", "method": "EconomicGrasp", "option": "schedule=multistep-warmup", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 5.080x the reference (tolerance 1.25)", "loss/graspness 4.700x the reference (tolerance 1.25)", "loss/width 1.264x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.48x, loss/depth 0.54x, loss/score 0.48x"], "terms": {"loss/objectness": [0.6395, 0.1259, 5.08], "loss/graspness": [0.2979, 0.06338, 4.7], "loss/view": [0.7213, 0.8303, 0.869], "loss/angle": [0.7477, 1.543, 0.484], "loss/depth": [0.422, 0.7779, 0.543], "loss/score": [0.6277, 1.31, 0.479], "loss/width": [0.7253, 0.5737, 1.264]}, "rise": {"loss/objectness": -0.016, "loss/graspness": -0.054, "loss/view": -0.002, "loss/angle": 0.008, "loss/depth": 0.006, "loss/score": 0.007, "loss/width": -0.035}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.009, -3.0, -3.03, -3.012], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__schedule__multistep-warmup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set schedule=multistep-warmup -o recipe__EconomicGrasp__schedule__multistep-warmup.yaml", "config_hash": "35d63496c3448eca", "run": "2026-10-16@1c8fd45", "seconds": 149.3},
  {"id": "recipe/FineGrasp/schedule/multistep-warmup", "kind": "recipe", "method": "FineGrasp", "option": "schedule=multistep-warmup", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 7.152x the reference (tolerance 1.25)", "loss/graspness 5.637x the reference (tolerance 1.25)", "loss/width 2.167x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.79x, loss/score 0.77x", "every predicted score is the same on every frame (a constant score head)", "unstable: 2 of 250 iterations had no real seed (iteration 3, 4)."], "terms": {"loss/objectness": [0.6427, 0.08986, 7.152], "loss/graspness": [0.2662, 0.04722, 5.637], "loss/view": [0.6401, 0.7334, 0.873], "loss/angle": [0.7379, 0.9369, 0.788], "loss/depth": [0.4013, 0.4363, 0.92], "loss/score": [0.6285, 0.8125, 0.774], "loss/width": [0.6828, 0.3151, 2.167]}, "rise": {"loss/objectness": -0.02, "loss/graspness": -0.06, "loss/view": -0.01, "loss/angle": 0.052, "loss/depth": 0.031, "loss/score": 0.042, "loss/width": 0.026}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.675, -1.675, -1.675, -1.675], "constant_scores": true, "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__schedule__multistep-warmup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set schedule=multistep-warmup -o recipe__FineGrasp__schedule__multistep-warmup.yaml", "config_hash": "63e311591bb22956", "run": "2026-10-16@1c8fd45", "seconds": 530.5},
  {"id": "recipe/GraspNet-baseline/schedule/multistep-warmup", "kind": "recipe", "method": "GraspNet-baseline", "option": "schedule=multistep-warmup", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.421x the reference (tolerance 1.25)", "loss/view 2.247x the reference (tolerance 1.25)", "loss/score 1.465x the reference (tolerance 1.25)", "loss/angle 1.356x the reference (tolerance 1.25)", "loss/width 9.077x the reference (tolerance 1.25)", "loss/tolerance 15.763x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.5314, 0.3739, 1.421], "loss/view": [0.06687, 0.02976, 2.247], "loss/score": [0.0329, 0.02246, 1.465], "loss/angle": [0.4526, 0.3337, 1.356], "loss/width": [0.117, 0.01289, 9.077], "loss/tolerance": [0.3165, 0.02008, 15.763]}, "rise": {"loss/objectness": -0.007, "loss/view": -0.018, "loss/score": 0.021, "loss/angle": -0.008, "loss/width": -0.016, "loss/tolerance": -0.044}, "grasps_per_frame": [409, 260, 550, 582], "no_gradient": [], "unchanged": [], "score_median": [-0.7191, -0.7986, -0.8356, -0.8005], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__schedule__multistep-warmup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set schedule=multistep-warmup -o recipe__GraspNet-baseline__schedule__multistep-warmup.yaml", "config_hash": "b58998b6b7781ae3", "run": "2026-10-16@1c8fd45", "seconds": 87.8},
  {"id": "recipe/Scale-Balanced-Grasp/schedule/multistep-warmup", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "schedule=multistep-warmup", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.479x the reference (tolerance 1.25)", "loss/view 1.306x the reference (tolerance 1.25)", "loss/score 1.352x the reference (tolerance 1.25)", "loss/angle 1.315x the reference (tolerance 1.25)", "loss/width 7.485x the reference (tolerance 1.25)", "loss/tolerance 23.027x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2922, 0.1975, 1.479], "loss/view": [0.1077, 0.08244, 1.306], "loss/score": [0.01917, 0.01418, 1.352], "loss/angle": [0.4118, 0.3132, 1.315], "loss/width": [0.08574, 0.01146, 7.485], "loss/tolerance": [0.1627, 0.007067, 23.027]}, "rise": {"loss/objectness": 0.0, "loss/view": 0.002, "loss/score": -0.028, "loss/angle": -0.004, "loss/width": -0.103, "loss/tolerance": -0.097}, "grasps_per_frame": [4, 28, 29, 43], "no_gradient": [], "unchanged": [], "score_median": [-0.1576, -0.3519, -0.5153, 1.64], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__schedule__multistep-warmup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set schedule=multistep-warmup -o recipe__Scale-Balanced-Grasp__schedule__multistep-warmup.yaml", "config_hash": "d989297fd3a9c17a", "run": "2026-10-16@1c8fd45", "seconds": 128.8},
  {"id": "recipe/HGGD/schedule/multistep-warmup", "kind": "recipe", "method": "HGGD", "option": "schedule=multistep-warmup", "level1": "runs", "outcome": "worse", "reasons": ["loss/heatmap 1.683x the reference (tolerance 1.55)", "loss/angle 183.430x the reference (tolerance 1.55)", "loss/offsets 2.058x the reference (tolerance 1.55)", "loss/anchor 3.253x the reference (tolerance 1.55)", "loss/anchor_offset 2.682x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [2.365, 1.405, 1.683], "loss/angle": [120.7, 0.6582, 183.43], "loss/offsets": [0.4439, 0.2157, 2.058], "loss/anchor": [2.498, 0.7677, 3.253], "loss/anchor_offset": [0.519, 0.1935, 2.682]}, "rise": {"loss/heatmap": -0.101, "loss/angle": -0.214, "loss/offsets": -0.023, "loss/anchor": -0.036, "loss/anchor_offset": -0.294}, "grasps_per_frame": [310, 390, 290, 340], "no_gradient": [], "unchanged": [], "score_median": [0.008524, 0.008437, 0.008406, 0.008464], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__schedule__multistep-warmup.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set schedule=multistep-warmup -o recipe__HGGD__schedule__multistep-warmup.yaml", "config_hash": "20394299571c4fc7", "run": "2026-10-16@1c8fd45", "seconds": 180.6},
  {"id": "recipe/GSNet/schedule/onecycle", "kind": "recipe", "method": "GSNet", "option": "schedule=onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.363x the reference (tolerance 1.25)", "loss/graspness 1.954x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.78x, loss/score 0.70x"], "terms": {"loss/objectness": [0.2129, 0.1562, 1.363], "loss/graspness": [0.1485, 0.07598, 1.954], "loss/view": [0.6639, 0.8476, 0.783], "loss/score": [0.02185, 0.0313, 0.698], "loss/width": [0.1121, 0.101, 1.109]}, "rise": {"loss/objectness": -0.156, "loss/graspness": -0.092, "loss/view": 0.058, "loss/score": -0.012, "loss/width": -0.031}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08124, 0.08306, 0.08751, 0.09366], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__schedule__onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set schedule=onecycle -o recipe__GSNet__schedule__onecycle.yaml", "config_hash": "647ac7cfd89205b0", "run": "2026-10-16@1c8fd45", "seconds": 139.1},
  {"id": "recipe/EconomicGrasp/schedule/onecycle", "kind": "recipe", "method": "EconomicGrasp", "option": "schedule=onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.099x the reference (tolerance 1.25)", "loss/graspness 2.317x the reference (tolerance 1.25)", "loss/width 1.257x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2643, 0.1259, 2.099], "loss/graspness": [0.1469, 0.06338, 2.317], "loss/view": [0.7525, 0.8303, 0.906], "loss/angle": [1.476, 1.543, 0.956], "loss/depth": [0.7749, 0.7779, 0.996], "loss/score": [1.228, 1.31, 0.938], "loss/width": [0.7213, 0.5737, 1.257]}, "rise": {"loss/objectness": -0.168, "loss/graspness": -0.066, "loss/view": 0.003, "loss/angle": 0.024, "loss/depth": 0.04, "loss/score": 0.026, "loss/width": -0.018}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.222, -2.233, -2.22, -2.233], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__schedule__onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set schedule=onecycle -o recipe__EconomicGrasp__schedule__onecycle.yaml", "config_hash": "f344f6d08d29f25f", "run": "2026-10-16@1c8fd45", "seconds": 147.8},
  {"id": "recipe/FineGrasp/schedule/onecycle", "kind": "recipe", "method": "FineGrasp", "option": "schedule=onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.278x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.08835, 0.08986, 0.983], "loss/graspness": [0.04508, 0.04722, 0.955], "loss/view": [0.7945, 0.7334, 1.083], "loss/angle": [1.198, 0.9369, 1.278], "loss/depth": [0.4975, 0.4363, 1.14], "loss/score": [0.9431, 0.8125, 1.161], "loss/width": [0.3721, 0.3151, 1.181]}, "rise": {"loss/objectness": -0.103, "loss/graspness": -0.14, "loss/view": -0.009, "loss/angle": -0.058, "loss/depth": -0.084, "loss/score": -0.071, "loss/width": -0.098}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.049, -1.317, -1.803, -1.044], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__schedule__onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set schedule=onecycle -o recipe__FineGrasp__schedule__onecycle.yaml", "config_hash": "d702519806104e4f", "run": "2026-10-16@1c8fd45", "seconds": 531.9},
  {"id": "recipe/GraspNet-baseline/schedule/onecycle", "kind": "recipe", "method": "GraspNet-baseline", "option": "schedule=onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.387x the reference (tolerance 1.25)", "loss/tolerance 1.912x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3974, 0.3739, 1.063], "loss/view": [0.03259, 0.02976, 1.095], "loss/score": [0.02442, 0.02246, 1.087], "loss/angle": [0.3572, 0.3337, 1.07], "loss/width": [0.01788, 0.01289, 1.387], "loss/tolerance": [0.03839, 0.02008, 1.912]}, "rise": {"loss/objectness": -0.042, "loss/view": -0.013, "loss/score": -0.03, "loss/angle": -0.016, "loss/width": -0.14, "loss/tolerance": -0.172}, "grasps_per_frame": [987, 1020, 910, 614], "no_gradient": [], "unchanged": [], "score_median": [-2.266, -1.534, -1.15, -0.8584], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__schedule__onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set schedule=onecycle -o recipe__GraspNet-baseline__schedule__onecycle.yaml", "config_hash": "2c5611303965f55e", "run": "2026-10-16@1c8fd45", "seconds": 93.4},
  {"id": "recipe/Scale-Balanced-Grasp/schedule/onecycle", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "schedule=onecycle", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/tolerance 1.516x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2151, 0.1975, 1.089], "loss/view": [0.08676, 0.08244, 1.052], "loss/score": [0.01462, 0.01418, 1.031], "loss/angle": [0.3553, 0.3132, 1.134], "loss/width": [0.009285, 0.01146, 0.811], "loss/tolerance": [0.01071, 0.007067, 1.516]}, "rise": {"loss/objectness": -0.035, "loss/view": 0.004, "loss/score": -0.043, "loss/angle": -0.018, "loss/width": -0.167, "loss/tolerance": -0.153}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__schedule__onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set schedule=onecycle -o recipe__Scale-Balanced-Grasp__schedule__onecycle.yaml", "config_hash": "4c0fe5d2c497bf77", "run": "2026-10-16@1c8fd45", "seconds": 130.9},
  {"id": "recipe/HGGD/schedule/onecycle", "kind": "recipe", "method": "HGGD", "option": "schedule=onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 14.486x the reference (tolerance 1.55)", "loss/offsets 1.556x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.559, 1.405, 1.11], "loss/angle": [9.535, 0.6582, 14.486], "loss/offsets": [0.3356, 0.2157, 1.556], "loss/anchor": [1.122, 0.7677, 1.461], "loss/anchor_offset": [0.2137, 0.1935, 1.104]}, "rise": {"loss/heatmap": -0.031, "loss/angle": -0.244, "loss/offsets": -0.026, "loss/anchor": -0.067, "loss/anchor_offset": -0.022}, "grasps_per_frame": [460, 460, 440, 400], "no_gradient": [], "unchanged": [], "score_median": [0.1058, 0.1059, 0.1058, 0.1058], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__schedule__onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set schedule=onecycle -o recipe__HGGD__schedule__onecycle.yaml", "config_hash": "1e7a931e4f2d1ea2", "run": "2026-10-16@1c8fd45", "seconds": 178.0},
  {"id": "recipe/GSNet/schedule/poly", "kind": "recipe", "method": "GSNet", "option": "schedule=poly", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.305x the reference (tolerance 1.25)", "loss/graspness 1.688x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/score 0.73x"], "terms": {"loss/objectness": [0.2038, 0.1562, 1.305], "loss/graspness": [0.1282, 0.07598, 1.688], "loss/view": [0.6805, 0.8476, 0.803], "loss/score": [0.02293, 0.0313, 0.733], "loss/width": [0.1125, 0.101, 1.113]}, "rise": {"loss/objectness": -0.183, "loss/graspness": -0.177, "loss/view": 0.074, "loss/score": 0.011, "loss/width": -0.039}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08279, 0.09042, 0.08596, 0.09422], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__schedule__poly.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set schedule=poly -o recipe__GSNet__schedule__poly.yaml", "config_hash": "d1e54b597ad585e7", "run": "2026-10-16@1c8fd45", "seconds": 146.5},
  {"id": "recipe/EconomicGrasp/schedule/poly", "kind": "recipe", "method": "EconomicGrasp", "option": "schedule=poly", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.752x the reference (tolerance 1.25)", "loss/graspness 2.360x the reference (tolerance 1.25)", "loss/width 1.260x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2206, 0.1259, 1.752], "loss/graspness": [0.1496, 0.06338, 2.36], "loss/view": [0.7639, 0.8303, 0.92], "loss/angle": [1.449, 1.543, 0.939], "loss/depth": [0.7695, 0.7779, 0.989], "loss/score": [1.205, 1.31, 0.92], "loss/width": [0.723, 0.5737, 1.26]}, "rise": {"loss/objectness": -0.271, "loss/graspness": -0.087, "loss/view": 0.01, "loss/angle": 0.064, "loss/depth": 0.071, "loss/score": 0.061, "loss/width": -0.023}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.813, -1.803, -1.768, -1.76], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__schedule__poly.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set schedule=poly -o recipe__EconomicGrasp__schedule__poly.yaml", "config_hash": "2048aab95f934341", "run": "2026-10-16@1c8fd45", "seconds": 159.2},
  {"id": "recipe/FineGrasp/schedule/poly", "kind": "recipe", "method": "FineGrasp", "option": "schedule=poly", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/angle 1.809x the reference (tolerance 1.25)", "loss/depth 2.073x the reference (tolerance 1.25)", "loss/score 1.713x the reference (tolerance 1.25)", "loss/width 2.161x the reference (tolerance 1.25)"], "notes": ["every predicted score is the same on every frame (a constant score head)", "unstable: 1 of 250 iterations had no real seed (iteration 9)."], "terms": {"loss/objectness": [0.1001, 0.08986, 1.114], "loss/graspness": [0.05001, 0.04722, 1.059], "loss/view": [0.7388, 0.7334, 1.007], "loss/angle": [1.695, 0.9369, 1.809], "loss/depth": [0.9046, 0.4363, 2.073], "loss/score": [1.392, 0.8125, 1.713], "loss/width": [0.6808, 0.3151, 2.161]}, "rise": {"loss/objectness": -0.303, "loss/graspness": -0.358, "loss/view": -0.033, "loss/angle": 0.019, "loss/depth": 0.021, "loss/score": 0.019, "loss/width": -0.011}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.504, -1.504, -1.504, -1.504], "constant_scores": true, "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__schedule__poly.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set schedule=poly -o recipe__FineGrasp__schedule__poly.yaml", "config_hash": "9f80449b03ee4ae5", "run": "2026-10-16@1c8fd45", "seconds": 527.2},
  {"id": "recipe/GraspNet-baseline/schedule/poly", "kind": "recipe", "method": "GraspNet-baseline", "option": "schedule=poly", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.306x the reference (tolerance 1.25)", "loss/tolerance 2.138x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4028, 0.3739, 1.077], "loss/view": [0.03266, 0.02976, 1.098], "loss/score": [0.02414, 0.02246, 1.074], "loss/angle": [0.3606, 0.3337, 1.081], "loss/width": [0.01684, 0.01289, 1.306], "loss/tolerance": [0.04293, 0.02008, 2.138]}, "rise": {"loss/objectness": -0.054, "loss/view": -0.031, "loss/score": -0.052, "loss/angle": -0.017, "loss/width": -0.191, "loss/tolerance": -0.247}, "grasps_per_frame": [987, 732, 706, 484], "no_gradient": [], "unchanged": [], "score_median": [0.5708, 0.8131, 0.2092, 0.5076], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__schedule__poly.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set schedule=poly -o recipe__GraspNet-baseline__schedule__poly.yaml", "config_hash": "5f0952e85f64fb55", "run": "2026-10-16@1c8fd45", "seconds": 87.9},
  {"id": "recipe/Scale-Balanced-Grasp/schedule/poly", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "schedule=poly", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/tolerance 1.420x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2144, 0.1975, 1.086], "loss/view": [0.08605, 0.08244, 1.044], "loss/score": [0.01512, 0.01418, 1.066], "loss/angle": [0.3496, 0.3132, 1.116], "loss/width": [0.01036, 0.01146, 0.905], "loss/tolerance": [0.01003, 0.007067, 1.42]}, "rise": {"loss/objectness": -0.063, "loss/view": -0.008, "loss/score": -0.046, "loss/angle": -0.027, "loss/width": -0.159, "loss/tolerance": -0.273}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__schedule__poly.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set schedule=poly -o recipe__Scale-Balanced-Grasp__schedule__poly.yaml", "config_hash": "ad9e4540787fca9d", "run": "2026-10-16@1c8fd45", "seconds": 131.9},
  {"id": "recipe/HGGD/schedule/poly", "kind": "recipe", "method": "HGGD", "option": "schedule=poly", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [2.069, 1.405, 1.472], "loss/angle": [0.7701, 0.6582, 1.17], "loss/offsets": [0.3081, 0.2157, 1.429], "loss/anchor": [0.8822, 0.7677, 1.149], "loss/anchor_offset": [0.1639, 0.1935, 0.847]}, "rise": {"loss/heatmap": -0.088, "loss/angle": -0.046, "loss/offsets": -0.019, "loss/anchor": -0.196, "loss/anchor_offset": -0.059}, "grasps_per_frame": [480, 480, 470, 480], "no_gradient": [], "unchanged": [], "score_median": [0.1744, 0.1744, 0.1744, 0.1748], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__schedule__poly.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set schedule=poly -o recipe__HGGD__schedule__poly.yaml", "config_hash": "6ea7f8d041f2a5dc", "run": "2026-10-16@1c8fd45", "seconds": 186.4},
  {"id": "recipe/GSNet/schedule/warmup-cosine", "kind": "recipe", "method": "GSNet", "option": "schedule=warmup-cosine", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.450x the reference (tolerance 1.25)", "loss/graspness 2.073x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.76x, loss/score 0.70x"], "terms": {"loss/objectness": [0.2264, 0.1562, 1.45], "loss/graspness": [0.1575, 0.07598, 2.073], "loss/view": [0.6401, 0.8476, 0.755], "loss/score": [0.02192, 0.0313, 0.7], "loss/width": [0.1154, 0.101, 1.142]}, "rise": {"loss/objectness": -0.133, "loss/graspness": -0.07, "loss/view": 0.049, "loss/score": -0.027, "loss/width": -0.033}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.08808, 0.08322, 0.08809, 0.09268], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__schedule__warmup-cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set schedule=warmup-cosine -o recipe__GSNet__schedule__warmup-cosine.yaml", "config_hash": "6da098c2bcded9d4", "run": "2026-10-16@1c8fd45", "seconds": 139.4},
  {"id": "recipe/EconomicGrasp/schedule/warmup-cosine", "kind": "recipe", "method": "EconomicGrasp", "option": "schedule=warmup-cosine", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.327x the reference (tolerance 1.25)", "loss/graspness 2.504x the reference (tolerance 1.25)", "loss/width 1.255x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2929, 0.1259, 2.327], "loss/graspness": [0.1587, 0.06338, 2.504], "loss/view": [0.7562, 0.8303, 0.911], "loss/angle": [1.462, 1.543, 0.947], "loss/depth": [0.7569, 0.7779, 0.973], "loss/score": [1.209, 1.31, 0.923], "loss/width": [0.72, 0.5737, 1.255]}, "rise": {"loss/objectness": -0.14, "loss/graspness": -0.042, "loss/view": 0.005, "loss/angle": 0.013, "loss/depth": 0.013, "loss/score": 0.012, "loss/width": -0.019}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.682, -1.713, -1.687, -1.668], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__schedule__warmup-cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set schedule=warmup-cosine -o recipe__EconomicGrasp__schedule__warmup-cosine.yaml", "config_hash": "bd88ba9b0946be1d", "run": "2026-10-16@1c8fd45", "seconds": 148.8},
  {"id": "recipe/FineGrasp/schedule/warmup-cosine", "kind": "recipe", "method": "FineGrasp", "option": "schedule=warmup-cosine", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/objectness 1.268x the reference (tolerance 1.25)", "loss/graspness 1.450x the reference (tolerance 1.25)", "loss/angle 1.832x the reference (tolerance 1.25)", "loss/depth 2.085x the reference (tolerance 1.25)", "loss/score 1.732x the reference (tolerance 1.25)", "loss/width 2.128x the reference (tolerance 1.25)"], "notes": ["every predicted score is the same on every frame (a constant score head)", "unstable: 1 of 250 iterations had no real seed (iteration 9)."], "terms": {"loss/objectness": [0.1139, 0.08986, 1.268], "loss/graspness": [0.06847, 0.04722, 1.45], "loss/view": [0.7642, 0.7334, 1.042], "loss/angle": [1.716, 0.9369, 1.832], "loss/depth": [0.9098, 0.4363, 2.085], "loss/score": [1.407, 0.8125, 1.732], "loss/width": [0.6706, 0.3151, 2.128]}, "rise": {"loss/objectness": -0.209, "loss/graspness": -0.235, "loss/view": -0.022, "loss/angle": 0.017, "loss/depth": 0.021, "loss/score": 0.017, "loss/width": -0.017}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.462, -1.462, -1.462, -1.462], "constant_scores": true, "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__schedule__warmup-cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set schedule=warmup-cosine -o recipe__FineGrasp__schedule__warmup-cosine.yaml", "config_hash": "3b20dd8ba29fe572", "run": "2026-10-16@1c8fd45", "seconds": 532.8},
  {"id": "recipe/GraspNet-baseline/schedule/warmup-cosine", "kind": "recipe", "method": "GraspNet-baseline", "option": "schedule=warmup-cosine", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/width 1.569x the reference (tolerance 1.25)", "loss/tolerance 2.355x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3962, 0.3739, 1.06], "loss/view": [0.03296, 0.02976, 1.108], "loss/score": [0.02441, 0.02246, 1.087], "loss/angle": [0.3634, 0.3337, 1.089], "loss/width": [0.02023, 0.01289, 1.569], "loss/tolerance": [0.04728, 0.02008, 2.355]}, "rise": {"loss/objectness": -0.045, "loss/view": -0.018, "loss/score": -0.001, "loss/angle": -0.006, "loss/width": -0.163, "loss/tolerance": -0.193}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__schedule__warmup-cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set schedule=warmup-cosine -o recipe__GraspNet-baseline__schedule__warmup-cosine.yaml", "config_hash": "737a1a0ea61ee2c8", "run": "2026-10-16@1c8fd45", "seconds": 88.8},
  {"id": "recipe/Scale-Balanced-Grasp/schedule/warmup-cosine", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "schedule=warmup-cosine", "level1": "runs", "outcome": "diverging", "reasons": ["no grasp on any of the 4 frames", "loss/tolerance 1.454x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2199, 0.1975, 1.114], "loss/view": [0.08652, 0.08244, 1.05], "loss/score": [0.015, 0.01418, 1.057], "loss/angle": [0.3564, 0.3132, 1.138], "loss/width": [0.01009, 0.01146, 0.881], "loss/tolerance": [0.01027, 0.007067, 1.454]}, "rise": {"loss/objectness": -0.037, "loss/view": -0.002, "loss/score": -0.017, "loss/angle": -0.015, "loss/width": -0.177, "loss/tolerance": -0.161}, "grasps_per_frame": [0, 0, 0, 0], "no_gradient": [], "unchanged": [], "score_median": [null, null, null, null], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__schedule__warmup-cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set schedule=warmup-cosine -o recipe__Scale-Balanced-Grasp__schedule__warmup-cosine.yaml", "config_hash": "4644d07adaa5b799", "run": "2026-10-16@1c8fd45", "seconds": 132.4},
  {"id": "recipe/HGGD/schedule/warmup-cosine", "kind": "recipe", "method": "HGGD", "option": "schedule=warmup-cosine", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.421, 1.405, 1.012], "loss/angle": [0.8071, 0.6582, 1.226], "loss/offsets": [0.3172, 0.2157, 1.47], "loss/anchor": [0.9488, 0.7677, 1.236], "loss/anchor_offset": [0.1825, 0.1935, 0.943]}, "rise": {"loss/heatmap": -0.115, "loss/angle": -0.024, "loss/offsets": -0.07, "loss/anchor": -0.191, "loss/anchor_offset": -0.111}, "grasps_per_frame": [470, 440, 470, 470], "no_gradient": [], "unchanged": [], "score_median": [0.1803, 0.1803, 0.1805, 0.1811], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__schedule__warmup-cosine.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set schedule=warmup-cosine -o recipe__HGGD__schedule__warmup-cosine.yaml", "config_hash": "6726fae925d093a4", "run": "2026-10-16@1c8fd45", "seconds": 188.2},
  {"id": "recipe/GSNet/hooks/accumulate-2", "kind": "recipe", "method": "GSNet", "option": "hooks=accumulate-2", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.293x the reference (tolerance 1.25)", "loss/graspness 2.218x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.73x, loss/score 0.66x"], "terms": {"loss/objectness": [0.2019, 0.1562, 1.293], "loss/graspness": [0.1685, 0.07598, 2.218], "loss/view": [0.6151, 0.8476, 0.726], "loss/score": [0.02056, 0.0313, 0.657], "loss/width": [0.1128, 0.101, 1.116]}, "rise": {"loss/objectness": -0.306, "loss/graspness": -0.112, "loss/view": 0.145, "loss/score": -0.07, "loss/width": -0.067}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07389, 0.08944, 0.07776, 0.08107], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__hooks__accumulate-2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set hooks=accumulate-2 -o recipe__GSNet__hooks__accumulate-2.yaml", "config_hash": "b8df08bd82412c96", "run": "2026-10-16@1c8fd45", "seconds": 149.8},
  {"id": "recipe/EconomicGrasp/hooks/accumulate-2", "kind": "recipe", "method": "EconomicGrasp", "option": "hooks=accumulate-2", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.317x the reference (tolerance 1.25)", "loss/graspness 2.210x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1658, 0.1259, 1.317], "loss/graspness": [0.1401, 0.06338, 2.21], "loss/view": [0.785, 0.8303, 0.945], "loss/angle": [1.498, 1.543, 0.971], "loss/depth": [0.7727, 0.7779, 0.993], "loss/score": [1.257, 1.31, 0.96], "loss/width": [0.6899, 0.5737, 1.202]}, "rise": {"loss/objectness": -0.372, "loss/graspness": -0.144, "loss/view": 0.037, "loss/angle": 0.083, "loss/depth": 0.078, "loss/score": 0.084, "loss/width": -0.039}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.006, -2.091, -2.029, -1.974], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__hooks__accumulate-2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set hooks=accumulate-2 -o recipe__EconomicGrasp__hooks__accumulate-2.yaml", "config_hash": "98e09e2058636e9c", "run": "2026-10-16@1c8fd45", "seconds": 149.0},
  {"id": "recipe/FineGrasp/hooks/accumulate-2", "kind": "recipe", "method": "FineGrasp", "option": "hooks=accumulate-2", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09218, 0.08986, 1.026], "loss/graspness": [0.05057, 0.04722, 1.071], "loss/view": [0.7537, 0.7334, 1.028], "loss/angle": [0.9863, 0.9369, 1.053], "loss/depth": [0.4525, 0.4363, 1.037], "loss/score": [0.8492, 0.8125, 1.045], "loss/width": [0.3287, 0.3151, 1.043]}, "rise": {"loss/objectness": -0.197, "loss/graspness": -0.332, "loss/view": -0.004, "loss/angle": -0.151, "loss/depth": -0.15, "loss/score": -0.126, "loss/width": -0.245}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.389, -1.142, -1.984, -1.765], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__hooks__accumulate-2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set hooks=accumulate-2 -o recipe__FineGrasp__hooks__accumulate-2.yaml", "config_hash": "102d398d0e2d4b85", "run": "2026-10-16@1c8fd45", "seconds": 686.9},
  {"id": "recipe/GraspNet-baseline/hooks/accumulate-2", "kind": "recipe", "method": "GraspNet-baseline", "option": "hooks=accumulate-2", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.586x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.3918, 0.3739, 1.048], "loss/view": [0.03128, 0.02976, 1.051], "loss/score": [0.02312, 0.02246, 1.029], "loss/angle": [0.3518, 0.3337, 1.054], "loss/width": [0.01508, 0.01289, 1.17], "loss/tolerance": [0.03185, 0.02008, 1.586]}, "rise": {"loss/objectness": -0.07, "loss/view": -0.051, "loss/score": -0.074, "loss/angle": -0.047, "loss/width": -0.333, "loss/tolerance": -0.373}, "grasps_per_frame": [482, 194, 482, 439], "no_gradient": [], "unchanged": [], "score_median": [0.08968, 0.1388, 0.05761, 0.07249], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__hooks__accumulate-2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set hooks=accumulate-2 -o recipe__GraspNet-baseline__hooks__accumulate-2.yaml", "config_hash": "b9c5cd45473bf259", "run": "2026-10-16@1c8fd45", "seconds": 89.8},
  {"id": "recipe/Scale-Balanced-Grasp/hooks/accumulate-2", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "hooks=accumulate-2", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.77x"], "terms": {"loss/objectness": [0.2013, 0.1975, 1.02], "loss/view": [0.08547, 0.08244, 1.037], "loss/score": [0.01429, 0.01418, 1.007], "loss/angle": [0.3528, 0.3132, 1.126], "loss/width": [0.008786, 0.01146, 0.767], "loss/tolerance": [0.007078, 0.007067, 1.002]}, "rise": {"loss/objectness": -0.084, "loss/view": -0.016, "loss/score": -0.106, "loss/angle": -0.039, "loss/width": -0.107, "loss/tolerance": -0.378}, "grasps_per_frame": [69, 64, 54, 28], "no_gradient": [], "unchanged": [], "score_median": [0.008136, -0.005839, -0.006773, 0.002279], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__hooks__accumulate-2.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set hooks=accumulate-2 -o recipe__Scale-Balanced-Grasp__hooks__accumulate-2.yaml", "config_hash": "8bcee47f50c407d3", "run": "2026-10-16@1c8fd45", "seconds": 134.7},
  {"id": "recipe/GSNet/hooks/agc", "kind": "recipe", "method": "GSNet", "option": "hooks=agc", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.73x, loss/graspness 0.56x"], "terms": {"loss/objectness": [0.1145, 0.1562, 0.733], "loss/graspness": [0.04266, 0.07598, 0.561], "loss/view": [0.8184, 0.8476, 0.966], "loss/score": [0.03526, 0.0313, 1.127], "loss/width": [0.08523, 0.101, 0.843]}, "rise": {"loss/objectness": -0.128, "loss/graspness": -0.202, "loss/view": -0.007, "loss/score": 0.053, "loss/width": -0.042}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.05546, 0.05207, 0.06153, 0.06128], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__hooks__agc.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set hooks=agc -o recipe__GSNet__hooks__agc.yaml", "config_hash": "ccc39f1c3c470601", "run": "2026-10-16@1c8fd45", "seconds": 146.2},
  {"id": "recipe/EconomicGrasp/hooks/agc", "kind": "recipe", "method": "EconomicGrasp", "option": "hooks=agc", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.79x, loss/graspness 0.67x, loss/depth 0.79x, loss/width 0.71x"], "terms": {"loss/objectness": [0.09942, 0.1259, 0.79], "loss/graspness": [0.04233, 0.06338, 0.668], "loss/view": [0.823, 0.8303, 0.991], "loss/angle": [1.256, 1.543, 0.814], "loss/depth": [0.6152, 0.7779, 0.791], "loss/score": [1.061, 1.31, 0.81], "loss/width": [0.4064, 0.5737, 0.708]}, "rise": {"loss/objectness": -0.114, "loss/graspness": -0.117, "loss/view": -0.008, "loss/angle": -0.097, "loss/depth": -0.108, "loss/score": -0.102, "loss/width": -0.167}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.9389, -0.4115, -1.339, -0.8428], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__hooks__agc.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set hooks=agc -o recipe__EconomicGrasp__hooks__agc.yaml", "config_hash": "eddf1b84250b0818", "run": "2026-10-16@1c8fd45", "seconds": 149.3},
  {"id": "recipe/FineGrasp/hooks/agc", "kind": "recipe", "method": "FineGrasp", "option": "hooks=agc", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08509, 0.08986, 0.947], "loss/graspness": [0.05027, 0.04722, 1.065], "loss/view": [0.7079, 0.7334, 0.965], "loss/angle": [1.075, 0.9369, 1.147], "loss/depth": [0.4821, 0.4363, 1.105], "loss/score": [0.8733, 0.8125, 1.075], "loss/width": [0.3367, 0.3151, 1.069]}, "rise": {"loss/objectness": -0.186, "loss/graspness": -0.271, "loss/view": -0.045, "loss/angle": -0.137, "loss/depth": -0.182, "loss/score": -0.143, "loss/width": -0.271}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.596, -1.86, -2.23, -1.679], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__hooks__agc.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set hooks=agc -o recipe__FineGrasp__hooks__agc.yaml", "config_hash": "b5fbaaceda5a9115", "run": "2026-10-16@1c8fd45", "seconds": 724.9},
  {"id": "recipe/GraspNet-baseline/hooks/agc", "kind": "recipe", "method": "GraspNet-baseline", "option": "hooks=agc", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.42x"], "terms": {"loss/objectness": [0.346, 0.3739, 0.925], "loss/view": [0.02915, 0.02976, 0.98], "loss/score": [0.01971, 0.02246, 0.878], "loss/angle": [0.2955, 0.3337, 0.886], "loss/width": [0.01142, 0.01289, 0.886], "loss/tolerance": [0.008509, 0.02008, 0.424]}, "rise": {"loss/objectness": -0.114, "loss/view": -0.029, "loss/score": -0.065, "loss/angle": -0.058, "loss/width": -0.16, "loss/tolerance": -0.35}, "grasps_per_frame": [500, 232, 503, 410], "no_gradient": [], "unchanged": [], "score_median": [0.1223, 0.1102, 0.1097, 0.08403], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__hooks__agc.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set hooks=agc -o recipe__GraspNet-baseline__hooks__agc.yaml", "config_hash": "e379f83d9462f499", "run": "2026-10-16@1c8fd45", "seconds": 89.9},
  {"id": "recipe/Scale-Balanced-Grasp/hooks/agc", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "hooks=agc", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.77x"], "terms": {"loss/objectness": [0.1652, 0.1975, 0.837], "loss/view": [0.0808, 0.08244, 0.98], "loss/score": [0.01223, 0.01418, 0.862], "loss/angle": [0.2769, 0.3132, 0.884], "loss/width": [0.01065, 0.01146, 0.93], "loss/tolerance": [0.005421, 0.007067, 0.767]}, "rise": {"loss/objectness": -0.124, "loss/view": -0.017, "loss/score": -0.082, "loss/angle": -0.067, "loss/width": -0.159, "loss/tolerance": -0.235}, "grasps_per_frame": [120, 101, 114, 76], "no_gradient": [], "unchanged": [], "score_median": [0.09164, 0.06285, 0.05702, 0.06348], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__hooks__agc.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set hooks=agc -o recipe__Scale-Balanced-Grasp__hooks__agc.yaml", "config_hash": "a6d947ed783f6652", "run": "2026-10-16@1c8fd45", "seconds": 136.5},
  {"id": "recipe/HGGD/hooks/agc", "kind": "recipe", "method": "HGGD", "option": "hooks=agc", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.11x"], "terms": {"loss/heatmap": [1.627, 1.405, 1.158], "loss/angle": [0.07251, 0.6582, 0.11], "loss/offsets": [0.2106, 0.2157, 0.976], "loss/anchor": [0.8769, 0.7677, 1.142], "loss/anchor_offset": [0.2108, 0.1935, 1.089]}, "rise": {"loss/heatmap": -0.395, "loss/angle": -0.541, "loss/offsets": -0.177, "loss/anchor": -0.095, "loss/anchor_offset": -0.063}, "grasps_per_frame": [460, 460, 480, 470], "no_gradient": [], "unchanged": [], "score_median": [0.2284, 0.2218, 0.2318, 0.2235], "checked": [17, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe recipe__HGGD__hooks__agc.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set hooks=agc -o recipe__HGGD__hooks__agc.yaml", "config_hash": "cba97431b2ebcabb", "run": "2026-10-16@1c8fd45", "seconds": 184.5},
  {"id": "recipe/GSNet/hooks/ema", "kind": "recipe", "method": "GSNet", "option": "hooks=ema", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1598, 0.1562, 1.023], "loss/graspness": [0.07701, 0.07598, 1.014], "loss/view": [0.8305, 0.8476, 0.98], "loss/score": [0.03097, 0.0313, 0.989], "loss/width": [0.09925, 0.101, 0.982]}, "rise": {"loss/objectness": -0.209, "loss/graspness": -0.344, "loss/view": 0.194, "loss/score": 0.231, "loss/width": -0.081}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07105, 0.07235, 0.06618, 0.07278], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__hooks__ema.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set hooks=ema -o recipe__GSNet__hooks__ema.yaml", "config_hash": "9d4e76b8cac0e1c2", "run": "2026-10-16@1c8fd45", "seconds": 148.6},
  {"id": "recipe/EconomicGrasp/hooks/ema", "kind": "recipe", "method": "EconomicGrasp", "option": "hooks=ema", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1283, 0.1259, 1.019], "loss/graspness": [0.06749, 0.06338, 1.065], "loss/view": [0.8334, 0.8303, 1.004], "loss/angle": [1.551, 1.543, 1.005], "loss/depth": [0.7639, 0.7779, 0.982], "loss/score": [1.303, 1.31, 0.995], "loss/width": [0.5644, 0.5737, 0.984]}, "rise": {"loss/objectness": -0.135, "loss/graspness": -0.412, "loss/view": 0.037, "loss/angle": 0.038, "loss/depth": 0.014, "loss/score": 0.031, "loss/width": -0.141}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.9227, -0.6493, -0.4424, 0.09941], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__hooks__ema.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set hooks=ema -o recipe__EconomicGrasp__hooks__ema.yaml", "config_hash": "91d6010b0847e9eb", "run": "2026-10-16@1c8fd45", "seconds": 155.3},
  {"id": "recipe/FineGrasp/hooks/ema", "kind": "recipe", "method": "FineGrasp", "option": "hooks=ema", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09149, 0.08986, 1.018], "loss/graspness": [0.04866, 0.04722, 1.031], "loss/view": [0.7588, 0.7334, 1.035], "loss/angle": [0.9656, 0.9369, 1.031], "loss/depth": [0.4573, 0.4363, 1.048], "loss/score": [0.8506, 0.8125, 1.047], "loss/width": [0.3294, 0.3151, 1.046]}, "rise": {"loss/objectness": -0.158, "loss/graspness": -0.343, "loss/view": -0.002, "loss/angle": -0.161, "loss/depth": -0.144, "loss/score": -0.128, "loss/width": -0.244}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.097, -1.445, -2.197, -2.466], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__hooks__ema.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set hooks=ema -o recipe__FineGrasp__hooks__ema.yaml", "config_hash": "f943df13b98fb2f8", "run": "2026-10-16@1c8fd45", "seconds": 754.2},
  {"id": "recipe/GraspNet-baseline/hooks/ema", "kind": "recipe", "method": "GraspNet-baseline", "option": "hooks=ema", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3633, 0.3739, 0.972], "loss/view": [0.02981, 0.02976, 1.002], "loss/score": [0.02151, 0.02246, 0.958], "loss/angle": [0.3309, 0.3337, 0.992], "loss/width": [0.01256, 0.01289, 0.974], "loss/tolerance": [0.0198, 0.02008, 0.986]}, "rise": {"loss/objectness": -0.098, "loss/view": -0.04, "loss/score": -0.05, "loss/angle": -0.05, "loss/width": -0.176, "loss/tolerance": -0.242}, "grasps_per_frame": [315, 325, 434, 409], "no_gradient": [], "unchanged": [], "score_median": [0.1699, 0.07986, 0.1082, 0.09123], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__hooks__ema.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set hooks=ema -o recipe__GraspNet-baseline__hooks__ema.yaml", "config_hash": "61e3efa16de78968", "run": "2026-10-16@1c8fd45", "seconds": 100.2},
  {"id": "recipe/Scale-Balanced-Grasp/hooks/ema", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "hooks=ema", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1975, 0.1975, 1.0], "loss/view": [0.08244, 0.08244, 1.0], "loss/score": [0.01418, 0.01418, 1.0], "loss/angle": [0.3132, 0.3132, 1.0], "loss/width": [0.01146, 0.01146, 1.0], "loss/tolerance": [0.007067, 0.007067, 1.0]}, "rise": {"loss/objectness": -0.092, "loss/view": -0.016, "loss/score": 0.004, "loss/angle": -0.062, "loss/width": 0.136, "loss/tolerance": -0.228}, "grasps_per_frame": [8, 16, 3, 5], "no_gradient": [], "unchanged": [], "score_median": [0.04991, 0.0513, 0.01672, 0.01041], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__hooks__ema.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set hooks=ema -o recipe__Scale-Balanced-Grasp__hooks__ema.yaml", "config_hash": "3e0c693c4a545ab1", "run": "2026-10-16@1c8fd45", "seconds": 138.3},
  {"id": "recipe/HGGD/hooks/ema", "kind": "recipe", "method": "HGGD", "option": "hooks=ema", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.393, 1.405, 0.992], "loss/angle": [0.669, 0.6582, 1.016], "loss/offsets": [0.2179, 0.2157, 1.01], "loss/anchor": [0.7748, 0.7677, 1.009], "loss/anchor_offset": [0.1886, 0.1935, 0.975]}, "rise": {"loss/heatmap": -0.043, "loss/angle": -0.142, "loss/offsets": -0.148, "loss/anchor": -0.027, "loss/anchor_offset": -0.042}, "grasps_per_frame": [460, 460, 450, 440], "no_gradient": [], "unchanged": [], "score_median": [0.2003, 0.2035, 0.1978, 0.1914], "checked": [17, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe recipe__HGGD__hooks__ema.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set hooks=ema -o recipe__HGGD__hooks__ema.yaml", "config_hash": "24340a5c6a62a447", "run": "2026-10-16@1c8fd45", "seconds": 182.5},
  {"id": "recipe/GSNet/hooks/freeze-encoder", "kind": "recipe", "method": "GSNet", "option": "hooks=freeze-encoder", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1378, 0.1562, 0.882], "loss/graspness": [0.061, 0.07598, 0.803], "loss/view": [0.9031, 0.8476, 1.065], "loss/score": [0.03234, 0.0313, 1.033], "loss/width": [0.1001, 0.101, 0.99]}, "rise": {"loss/objectness": -0.205, "loss/graspness": -0.385, "loss/view": 0.116, "loss/score": 0.244, "loss/width": -0.063}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06657, 0.07131, 0.07616, 0.06965], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__hooks__freeze-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set hooks=freeze-encoder -o recipe__GSNet__hooks__freeze-encoder.yaml", "config_hash": "5bcadef61cb052ca", "run": "2026-10-16@1c8fd45", "seconds": 147.1},
  {"id": "recipe/EconomicGrasp/hooks/freeze-encoder", "kind": "recipe", "method": "EconomicGrasp", "option": "hooks=freeze-encoder", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/graspness 0.76x"], "terms": {"loss/objectness": [0.1156, 0.1259, 0.919], "loss/graspness": [0.04793, 0.06338, 0.756], "loss/view": [0.8688, 0.8303, 1.046], "loss/angle": [1.602, 1.543, 1.038], "loss/depth": [0.8356, 0.7779, 1.074], "loss/score": [1.376, 1.31, 1.051], "loss/width": [0.5929, 0.5737, 1.033]}, "rise": {"loss/objectness": -0.186, "loss/graspness": -0.542, "loss/view": 0.058, "loss/angle": 0.065, "loss/depth": 0.05, "loss/score": 0.082, "loss/width": -0.13}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.81, -1.663, -1.707, -1.631], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__hooks__freeze-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set hooks=freeze-encoder -o recipe__EconomicGrasp__hooks__freeze-encoder.yaml", "config_hash": "5ea5039d6fbf9fb1", "run": "2026-10-16@1c8fd45", "seconds": 155.8},
  {"id": "recipe/FineGrasp/hooks/freeze-encoder", "kind": "recipe", "method": "FineGrasp", "option": "hooks=freeze-encoder", "level1": "runs-unstable", "outcome": "on a par", "reasons": [], "notes": ["unstable: 2 of 250 iterations had no real seed (iteration 1, 2)."], "terms": {"loss/objectness": [0.09013, 0.08986, 1.003], "loss/graspness": [0.04863, 0.04722, 1.03], "loss/view": [0.7497, 0.7334, 1.022], "loss/angle": [0.9293, 0.9369, 0.992], "loss/depth": [0.4384, 0.4363, 1.005], "loss/score": [0.8117, 0.8125, 0.999], "loss/width": [0.3208, 0.3151, 1.018]}, "rise": {"loss/objectness": -0.151, "loss/graspness": -0.308, "loss/view": -0.02, "loss/angle": -0.167, "loss/depth": -0.141, "loss/score": -0.138, "loss/width": -0.212}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.857, -1.9, -2.902, -2.326], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__hooks__freeze-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set hooks=freeze-encoder -o recipe__FineGrasp__hooks__freeze-encoder.yaml", "config_hash": "4ce2c24ad5b75515", "run": "2026-10-16@1c8fd45", "seconds": 711.1},
  {"id": "recipe/GraspNet-baseline/hooks/freeze-encoder", "kind": "recipe", "method": "GraspNet-baseline", "option": "hooks=freeze-encoder", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3702, 0.3739, 0.99], "loss/view": [0.03055, 0.02976, 1.027], "loss/score": [0.02189, 0.02246, 0.974], "loss/angle": [0.3358, 0.3337, 1.006], "loss/width": [0.01361, 0.01289, 1.056], "loss/tolerance": [0.02385, 0.02008, 1.188]}, "rise": {"loss/objectness": -0.106, "loss/view": -0.045, "loss/score": -0.088, "loss/angle": -0.038, "loss/width": -0.163, "loss/tolerance": -0.263}, "grasps_per_frame": [562, 324, 588, 482], "no_gradient": [], "unchanged": [], "score_median": [0.1601, 0.2, 0.1396, 0.1485], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__hooks__freeze-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set hooks=freeze-encoder -o recipe__GraspNet-baseline__hooks__freeze-encoder.yaml", "config_hash": "6087a2fc43f266e4", "run": "2026-10-16@1c8fd45", "seconds": 90.9},
  {"id": "recipe/Scale-Balanced-Grasp/hooks/freeze-encoder", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "hooks=freeze-encoder", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1712, 0.1975, 0.867], "loss/view": [0.08258, 0.08244, 1.002], "loss/score": [0.01275, 0.01418, 0.899], "loss/angle": [0.3084, 0.3132, 0.984], "loss/width": [0.01277, 0.01146, 1.115], "loss/tolerance": [0.006488, 0.007067, 0.918]}, "rise": {"loss/objectness": -0.086, "loss/view": -0.016, "loss/score": -0.022, "loss/angle": -0.065, "loss/width": 0.169, "loss/tolerance": -0.159}, "grasps_per_frame": [149, 156, 126, 76], "no_gradient": [], "unchanged": [], "score_median": [0.03439, 0.0453, 0.04864, 0.09238], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__hooks__freeze-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set hooks=freeze-encoder -o recipe__Scale-Balanced-Grasp__hooks__freeze-encoder.yaml", "config_hash": "f88c49e7118c7143", "run": "2026-10-16@1c8fd45", "seconds": 130.4},
  {"id": "recipe/GSNet/hooks/grad-clip", "kind": "recipe", "method": "GSNet", "option": "hooks=grad-clip", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.75x, loss/graspness 0.63x"], "terms": {"loss/objectness": [0.1164, 0.1562, 0.746], "loss/graspness": [0.04785, 0.07598, 0.63], "loss/view": [0.8586, 0.8476, 1.013], "loss/score": [0.03378, 0.0313, 1.079], "loss/width": [0.09028, 0.101, 0.893]}, "rise": {"loss/objectness": -0.189, "loss/graspness": -0.388, "loss/view": 0.058, "loss/score": 0.056, "loss/width": -0.124}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07445, 0.0747, 0.07396, 0.07236], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__hooks__grad-clip.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set hooks=grad-clip -o recipe__GSNet__hooks__grad-clip.yaml", "config_hash": "e0d66335482eef29", "run": "2026-10-16@1c8fd45", "seconds": 149.8},
  {"id": "recipe/EconomicGrasp/hooks/grad-clip", "kind": "recipe", "method": "EconomicGrasp", "option": "hooks=grad-clip", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.77x"], "terms": {"loss/objectness": [0.1249, 0.1259, 0.992], "loss/graspness": [0.05607, 0.06338, 0.885], "loss/view": [0.8853, 0.8303, 1.066], "loss/angle": [1.323, 1.543, 0.857], "loss/depth": [0.6483, 0.7779, 0.833], "loss/score": [1.123, 1.31, 0.858], "loss/width": [0.4433, 0.5737, 0.773]}, "rise": {"loss/objectness": -0.143, "loss/graspness": -0.209, "loss/view": 0.031, "loss/angle": -0.044, "loss/depth": -0.067, "loss/score": -0.053, "loss/width": -0.178}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.208, -1.602, -1.925, -1.533], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__hooks__grad-clip.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set hooks=grad-clip -o recipe__EconomicGrasp__hooks__grad-clip.yaml", "config_hash": "5fdd6fa809055cdf", "run": "2026-10-16@1c8fd45", "seconds": 149.6},
  {"id": "recipe/FineGrasp/hooks/grad-clip", "kind": "recipe", "method": "FineGrasp", "option": "hooks=grad-clip", "level1": "runs", "outcome": "worse", "reasons": ["loss/graspness 1.438x the reference (tolerance 1.25)", "loss/angle 1.314x the reference (tolerance 1.25)", "loss/depth 1.332x the reference (tolerance 1.25)", "loss/score 1.254x the reference (tolerance 1.25)", "loss/width 1.399x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1089, 0.08986, 1.212], "loss/graspness": [0.0679, 0.04722, 1.438], "loss/view": [0.7563, 0.7334, 1.031], "loss/angle": [1.231, 0.9369, 1.314], "loss/depth": [0.5811, 0.4363, 1.332], "loss/score": [1.019, 0.8125, 1.254], "loss/width": [0.4409, 0.3151, 1.399]}, "rise": {"loss/objectness": -0.184, "loss/graspness": -0.258, "loss/view": -0.003, "loss/angle": 0.023, "loss/depth": 0.025, "loss/score": 0.034, "loss/width": -0.139}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.719, -1.984, -2.294, -2.305], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__hooks__grad-clip.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set hooks=grad-clip -o recipe__FineGrasp__hooks__grad-clip.yaml", "config_hash": "4a995777f23b75bb", "run": "2026-10-16@1c8fd45", "seconds": 690.8},
  {"id": "recipe/GraspNet-baseline/hooks/grad-clip", "kind": "recipe", "method": "GraspNet-baseline", "option": "hooks=grad-clip", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/tolerance 0.64x"], "terms": {"loss/objectness": [0.3409, 0.3739, 0.912], "loss/view": [0.02849, 0.02976, 0.957], "loss/score": [0.02144, 0.02246, 0.954], "loss/angle": [0.3044, 0.3337, 0.912], "loss/width": [0.01274, 0.01289, 0.989], "loss/tolerance": [0.01285, 0.02008, 0.64]}, "rise": {"loss/objectness": -0.099, "loss/view": -0.037, "loss/score": -0.061, "loss/angle": -0.078, "loss/width": -0.038, "loss/tolerance": -0.298}, "grasps_per_frame": [379, 363, 330, 440], "no_gradient": [], "unchanged": [], "score_median": [0.09376, 0.08766, 0.1336, 0.1134], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__hooks__grad-clip.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set hooks=grad-clip -o recipe__GraspNet-baseline__hooks__grad-clip.yaml", "config_hash": "3ff428114ca6203e", "run": "2026-10-16@1c8fd45", "seconds": 93.5},
  {"id": "recipe/Scale-Balanced-Grasp/hooks/grad-clip", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "hooks=grad-clip", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.67x, loss/tolerance 0.62x"], "terms": {"loss/objectness": [0.1687, 0.1975, 0.854], "loss/view": [0.08121, 0.08244, 0.985], "loss/score": [0.01332, 0.01418, 0.939], "loss/angle": [0.2751, 0.3132, 0.878], "loss/width": [0.0077, 0.01146, 0.672], "loss/tolerance": [0.00438, 0.007067, 0.62]}, "rise": {"loss/objectness": -0.113, "loss/view": -0.018, "loss/score": -0.018, "loss/angle": -0.105, "loss/width": -0.317, "loss/tolerance": -0.187}, "grasps_per_frame": [180, 135, 169, 83], "no_gradient": [], "unchanged": [], "score_median": [0.0553, 0.05712, 0.05242, 0.0491], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__hooks__grad-clip.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set hooks=grad-clip -o recipe__Scale-Balanced-Grasp__hooks__grad-clip.yaml", "config_hash": "8fd00a5afe5947c8", "run": "2026-10-16@1c8fd45", "seconds": 130.8},
  {"id": "recipe/HGGD/hooks/grad-clip", "kind": "recipe", "method": "HGGD", "option": "hooks=grad-clip", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.04x"], "terms": {"loss/heatmap": [1.028, 1.405, 0.732], "loss/angle": [0.02397, 0.6582, 0.036], "loss/offsets": [0.1418, 0.2157, 0.657], "loss/anchor": [0.6511, 0.7677, 0.848], "loss/anchor_offset": [0.1919, 0.1935, 0.992]}, "rise": {"loss/heatmap": -0.139, "loss/angle": -0.742, "loss/offsets": -0.229, "loss/anchor": -0.066, "loss/anchor_offset": -0.044}, "grasps_per_frame": [475, 476, 472, 460], "no_gradient": [], "unchanged": [], "score_median": [0.2329, 0.2142, 0.2316, 0.2375], "checked": [17, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe recipe__HGGD__hooks__grad-clip.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set hooks=grad-clip -o recipe__HGGD__hooks__grad-clip.yaml", "config_hash": "1e61d467d062cf26", "run": "2026-10-16@1c8fd45", "seconds": 180.5},
  {"id": "recipe/GSNet/hooks/swa", "kind": "recipe", "method": "GSNet", "option": "hooks=swa", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1603, 0.1562, 1.027], "loss/graspness": [0.08058, 0.07598, 1.061], "loss/view": [0.8393, 0.8476, 0.99], "loss/score": [0.03082, 0.0313, 0.985], "loss/width": [0.09983, 0.101, 0.988]}, "rise": {"loss/objectness": -0.189, "loss/graspness": -0.353, "loss/view": 0.213, "loss/score": 0.253, "loss/width": -0.076}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07009, 0.07395, 0.06852, 0.07044], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__hooks__swa.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set hooks=swa -o recipe__GSNet__hooks__swa.yaml", "config_hash": "3a7edf00ac45caa4", "run": "2026-10-16@1c8fd45", "seconds": 148.6},
  {"id": "recipe/EconomicGrasp/hooks/swa", "kind": "recipe", "method": "EconomicGrasp", "option": "hooks=swa", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1283, 0.1259, 1.019], "loss/graspness": [0.06341, 0.06338, 1.0], "loss/view": [0.8394, 0.8303, 1.011], "loss/angle": [1.573, 1.543, 1.019], "loss/depth": [0.7829, 0.7779, 1.006], "loss/score": [1.327, 1.31, 1.013], "loss/width": [0.5523, 0.5737, 0.963]}, "rise": {"loss/objectness": -0.145, "loss/graspness": -0.41, "loss/view": 0.047, "loss/angle": 0.023, "loss/depth": 0.005, "loss/score": 0.024, "loss/width": -0.14}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-0.2172, -0.05059, -0.1699, 0.5182], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__hooks__swa.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set hooks=swa -o recipe__EconomicGrasp__hooks__swa.yaml", "config_hash": "d1bfb42150734a8b", "run": "2026-10-16@1c8fd45", "seconds": 160.4},
  {"id": "recipe/FineGrasp/hooks/swa", "kind": "recipe", "method": "FineGrasp", "option": "hooks=swa", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.08597, 0.08986, 0.957], "loss/graspness": [0.04442, 0.04722, 0.941], "loss/view": [0.7385, 0.7334, 1.007], "loss/angle": [0.9301, 0.9369, 0.993], "loss/depth": [0.4347, 0.4363, 0.996], "loss/score": [0.8147, 0.8125, 1.003], "loss/width": [0.3084, 0.3151, 0.979]}, "rise": {"loss/objectness": -0.175, "loss/graspness": -0.279, "loss/view": -0.032, "loss/angle": -0.187, "loss/depth": -0.149, "loss/score": -0.143, "loss/width": -0.241}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.997, -0.9879, -1.609, -1.486], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__hooks__swa.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set hooks=swa -o recipe__FineGrasp__hooks__swa.yaml", "config_hash": "04ef54e2e5a491fd", "run": "2026-10-16@1c8fd45", "seconds": 654.2},
  {"id": "recipe/HGGD/hooks/swa", "kind": "recipe", "method": "HGGD", "option": "hooks=swa", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.418, 1.405, 1.009], "loss/angle": [0.6622, 0.6582, 1.006], "loss/offsets": [0.2131, 0.2157, 0.988], "loss/anchor": [0.7585, 0.7677, 0.988], "loss/anchor_offset": [0.1913, 0.1935, 0.988]}, "rise": {"loss/heatmap": -0.03, "loss/angle": -0.103, "loss/offsets": -0.18, "loss/anchor": -0.085, "loss/anchor_offset": -0.127}, "grasps_per_frame": [480, 470, 480, 480], "no_gradient": [], "unchanged": [], "score_median": [0.1997, 0.1977, 0.1991, 0.2001], "checked": [17, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe recipe__HGGD__hooks__swa.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set hooks=swa -o recipe__HGGD__hooks__swa.yaml", "config_hash": "416e143d8b1d747e", "run": "2026-10-16@1c8fd45", "seconds": 180.8},
  {"id": "recipe/GSNet/augment/dropout", "kind": "recipe", "method": "GSNet", "option": "augment=dropout", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1497, 0.1562, 0.959], "loss/graspness": [0.07427, 0.07598, 0.978], "loss/view": [0.8262, 0.8476, 0.975], "loss/score": [0.03026, 0.0313, 0.967], "loss/width": [0.09709, 0.101, 0.961]}, "rise": {"loss/objectness": -0.181, "loss/graspness": -0.356, "loss/view": 0.189, "loss/score": 0.182, "loss/width": -0.104}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06471, 0.06479, 0.06376, 0.07231], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__augment__dropout.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set augment=dropout -o recipe__GSNet__augment__dropout.yaml", "config_hash": "906ee722c564d07b", "run": "2026-10-16@1c8fd45", "seconds": 151.8},
  {"id": "recipe/EconomicGrasp/augment/dropout", "kind": "recipe", "method": "EconomicGrasp", "option": "augment=dropout", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1233, 0.1259, 0.98], "loss/graspness": [0.05616, 0.06338, 0.886], "loss/view": [0.8432, 0.8303, 1.016], "loss/angle": [1.547, 1.543, 1.002], "loss/depth": [0.79, 0.7779, 1.016], "loss/score": [1.323, 1.31, 1.01], "loss/width": [0.5955, 0.5737, 1.038]}, "rise": {"loss/objectness": -0.164, "loss/graspness": -0.436, "loss/view": 0.043, "loss/angle": 0.034, "loss/depth": 0.033, "loss/score": 0.045, "loss/width": -0.109}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.083, -0.8466, -0.4712, 0.3207], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__augment__dropout.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set augment=dropout -o recipe__EconomicGrasp__augment__dropout.yaml", "config_hash": "78d4fd2d6d126fee", "run": "2026-10-16@1c8fd45", "seconds": 171.7},
  {"id": "recipe/GraspNet-baseline/augment/dropout", "kind": "recipe", "method": "GraspNet-baseline", "option": "augment=dropout", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3688, 0.3739, 0.987], "loss/view": [0.02962, 0.02976, 0.995], "loss/score": [0.02231, 0.02246, 0.993], "loss/angle": [0.3239, 0.3337, 0.971], "loss/width": [0.0124, 0.01289, 0.962], "loss/tolerance": [0.01779, 0.02008, 0.886]}, "rise": {"loss/objectness": -0.098, "loss/view": -0.055, "loss/score": -0.045, "loss/angle": -0.062, "loss/width": -0.228, "loss/tolerance": -0.363}, "grasps_per_frame": [464, 236, 475, 463], "no_gradient": [], "unchanged": [], "score_median": [0.2837, 0.2075, 0.2054, 0.3127], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__augment__dropout.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set augment=dropout -o recipe__GraspNet-baseline__augment__dropout.yaml", "config_hash": "462ad34104a26573", "run": "2026-10-16@1c8fd45", "seconds": 95.1},
  {"id": "recipe/Scale-Balanced-Grasp/augment/dropout", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "augment=dropout", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1804, 0.1975, 0.913], "loss/view": [0.08117, 0.08244, 0.985], "loss/score": [0.01428, 0.01418, 1.007], "loss/angle": [0.3112, 0.3132, 0.993], "loss/width": [0.01272, 0.01146, 1.11], "loss/tolerance": [0.006423, 0.007067, 0.909]}, "rise": {"loss/objectness": -0.135, "loss/view": -0.027, "loss/score": -0.025, "loss/angle": -0.066, "loss/width": 0.008, "loss/tolerance": -0.313}, "grasps_per_frame": [80, 139, 88, 86], "no_gradient": [], "unchanged": [], "score_median": [0.05628, 0.09287, 0.06815, 0.07757], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__augment__dropout.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set augment=dropout -o recipe__Scale-Balanced-Grasp__augment__dropout.yaml", "config_hash": "30683660a9d717b0", "run": "2026-10-16@1c8fd45", "seconds": 137.0},
  {"id": "recipe/HGGD/augment/dropout", "kind": "recipe", "method": "HGGD", "option": "augment=dropout", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.431, 1.405, 1.019], "loss/angle": [0.769, 0.6582, 1.168], "loss/offsets": [0.2711, 0.2157, 1.257], "loss/anchor": [0.8346, 0.7677, 1.087], "loss/anchor_offset": [0.1815, 0.1935, 0.938]}, "rise": {"loss/heatmap": -0.058, "loss/angle": -0.16, "loss/offsets": -0.058, "loss/anchor": -0.099, "loss/anchor_offset": -0.176}, "grasps_per_frame": [480, 480, 480, 480], "no_gradient": [], "unchanged": [], "score_median": [0.1963, 0.1962, 0.1964, 0.1954], "checked": [17, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe recipe__HGGD__augment__dropout.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set augment=dropout -o recipe__HGGD__augment__dropout.yaml", "config_hash": "859140bc1eda167f", "run": "2026-10-16@1c8fd45", "seconds": 190.9},
  {"id": "recipe/GSNet/augment/jitter", "kind": "recipe", "method": "GSNet", "option": "augment=jitter", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1645, 0.1562, 1.053], "loss/graspness": [0.07923, 0.07598, 1.043], "loss/view": [0.812, 0.8476, 0.958], "loss/score": [0.03118, 0.0313, 0.996], "loss/width": [0.1033, 0.101, 1.023]}, "rise": {"loss/objectness": -0.252, "loss/graspness": -0.362, "loss/view": 0.203, "loss/score": 0.246, "loss/width": -0.081}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06587, 0.07089, 0.0696, 0.07498], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__augment__jitter.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set augment=jitter -o recipe__GSNet__augment__jitter.yaml", "config_hash": "4d05e38d01ffdd28", "run": "2026-10-16@1c8fd45", "seconds": 136.7},
  {"id": "recipe/EconomicGrasp/augment/jitter", "kind": "recipe", "method": "EconomicGrasp", "option": "augment=jitter", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.1307, 0.1259, 1.038], "loss/graspness": [0.06263, 0.06338, 0.988], "loss/view": [0.8215, 0.8303, 0.989], "loss/angle": [1.545, 1.543, 1.001], "loss/depth": [0.775, 0.7779, 0.996], "loss/score": [1.321, 1.31, 1.009], "loss/width": [0.5968, 0.5737, 1.04]}, "rise": {"loss/objectness": -0.153, "loss/graspness": -0.398, "loss/view": 0.038, "loss/angle": 0.027, "loss/depth": -0.007, "loss/score": 0.042, "loss/width": -0.12}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.672, -1.783, -1.772, -0.6011], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__augment__jitter.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set augment=jitter -o recipe__EconomicGrasp__augment__jitter.yaml", "config_hash": "95c47e9c304de045", "run": "2026-10-16@1c8fd45", "seconds": 153.4},
  {"id": "recipe/FineGrasp/augment/jitter", "kind": "recipe", "method": "FineGrasp", "option": "augment=jitter", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.09637, 0.08986, 1.072], "loss/graspness": [0.04883, 0.04722, 1.034], "loss/view": [0.7619, 0.7334, 1.039], "loss/angle": [0.9951, 0.9369, 1.062], "loss/depth": [0.459, 0.4363, 1.052], "loss/score": [0.8607, 0.8125, 1.059], "loss/width": [0.3296, 0.3151, 1.046]}, "rise": {"loss/objectness": -0.216, "loss/graspness": -0.356, "loss/view": 0.008, "loss/angle": -0.153, "loss/depth": -0.173, "loss/score": -0.143, "loss/width": -0.269}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-3.976, -2.995, -3.705, -3.842], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__augment__jitter.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set augment=jitter -o recipe__FineGrasp__augment__jitter.yaml", "config_hash": "fa02791f3f4c33a6", "run": "2026-10-16@1c8fd45", "seconds": 728.7},
  {"id": "recipe/GraspNet-baseline/augment/jitter", "kind": "recipe", "method": "GraspNet-baseline", "option": "augment=jitter", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3722, 0.3739, 0.995], "loss/view": [0.03024, 0.02976, 1.016], "loss/score": [0.02209, 0.02246, 0.984], "loss/angle": [0.3236, 0.3337, 0.97], "loss/width": [0.01321, 0.01289, 1.025], "loss/tolerance": [0.02155, 0.02008, 1.073]}, "rise": {"loss/objectness": -0.098, "loss/view": -0.028, "loss/score": -0.036, "loss/angle": -0.058, "loss/width": -0.145, "loss/tolerance": -0.361}, "grasps_per_frame": [464, 380, 437, 429], "no_gradient": [], "unchanged": [], "score_median": [0.06396, 0.08181, 0.0875, 0.1178], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__augment__jitter.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set augment=jitter -o recipe__GraspNet-baseline__augment__jitter.yaml", "config_hash": "a87f7e8f767c4eef", "run": "2026-10-16@1c8fd45", "seconds": 88.9},
  {"id": "recipe/Scale-Balanced-Grasp/augment/jitter", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "augment=jitter", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.77x"], "terms": {"loss/objectness": [0.1898, 0.1975, 0.961], "loss/view": [0.08389, 0.08244, 1.018], "loss/score": [0.0132, 0.01418, 0.931], "loss/angle": [0.3095, 0.3132, 0.988], "loss/width": [0.008807, 0.01146, 0.769], "loss/tolerance": [0.005976, 0.007067, 0.846]}, "rise": {"loss/objectness": -0.123, "loss/view": -0.004, "loss/score": -0.029, "loss/angle": -0.065, "loss/width": -0.338, "loss/tolerance": -0.258}, "grasps_per_frame": [146, 183, 152, 111], "no_gradient": [], "unchanged": [], "score_median": [0.07667, 0.06022, 0.08651, 0.08915], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__augment__jitter.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set augment=jitter -o recipe__Scale-Balanced-Grasp__augment__jitter.yaml", "config_hash": "11679de9adbc9010", "run": "2026-10-16@1c8fd45", "seconds": 127.8},
  {"id": "recipe/GSNet/augment/shift", "kind": "recipe", "method": "GSNet", "option": "augment=shift", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.182, 0.1562, 1.166], "loss/graspness": [0.0927, 0.07598, 1.22], "loss/view": [0.8069, 0.8476, 0.952], "loss/score": [0.02919, 0.0313, 0.933], "loss/width": [0.1044, 0.101, 1.033]}, "rise": {"loss/objectness": -0.249, "loss/graspness": -0.32, "loss/view": 0.23, "loss/score": 0.189, "loss/width": -0.059}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.06754, 0.07607, 0.06867, 0.07557], "checked": [12, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GSNet__augment__shift.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set augment=shift -o recipe__GSNet__augment__shift.yaml", "config_hash": "af0569e8cafbb6d5", "run": "2026-10-16@1c8fd45", "seconds": 141.7},
  {"id": "recipe/EconomicGrasp/augment/shift", "kind": "recipe", "method": "EconomicGrasp", "option": "augment=shift", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.315x the reference (tolerance 1.25)", "loss/graspness 1.454x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1655, 0.1259, 1.315], "loss/graspness": [0.09216, 0.06338, 1.454], "loss/view": [0.8425, 0.8303, 1.015], "loss/angle": [1.546, 1.543, 1.002], "loss/depth": [0.7804, 0.7779, 1.003], "loss/score": [1.318, 1.31, 1.007], "loss/width": [0.6128, 0.5737, 1.068]}, "rise": {"loss/objectness": -0.234, "loss/graspness": -0.278, "loss/view": 0.043, "loss/angle": 0.014, "loss/depth": -0.012, "loss/score": 0.028, "loss/width": -0.09}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.222, -1.246, -1.192, -0.8586], "checked": [15, 5], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__EconomicGrasp__augment__shift.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set augment=shift -o recipe__EconomicGrasp__augment__shift.yaml", "config_hash": "6fb8c0d2a9f88b87", "run": "2026-10-16@1c8fd45", "seconds": 145.0},
  {"id": "recipe/FineGrasp/augment/shift", "kind": "recipe", "method": "FineGrasp", "option": "augment=shift", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.411x the reference (tolerance 1.25)", "loss/graspness 1.588x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.1268, 0.08986, 1.411], "loss/graspness": [0.07499, 0.04722, 1.588], "loss/view": [0.769, 0.7334, 1.048], "loss/angle": [1.045, 0.9369, 1.115], "loss/depth": [0.4844, 0.4363, 1.11], "loss/score": [0.9015, 0.8125, 1.109], "loss/width": [0.3599, 0.3151, 1.142]}, "rise": {"loss/objectness": -0.134, "loss/graspness": -0.292, "loss/view": 0.012, "loss/angle": -0.094, "loss/depth": -0.079, "loss/score": -0.071, "loss/width": -0.214}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.425, -0.8865, -1.027, -0.8359], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__augment__shift.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set augment=shift -o recipe__FineGrasp__augment__shift.yaml", "config_hash": "dce5b5afd698f70d", "run": "2026-10-16@1c8fd45", "seconds": 710.6},
  {"id": "recipe/GraspNet-baseline/augment/shift", "kind": "recipe", "method": "GraspNet-baseline", "option": "augment=shift", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/objectness": [0.3639, 0.3739, 0.973], "loss/view": [0.02969, 0.02976, 0.998], "loss/score": [0.02257, 0.02246, 1.005], "loss/angle": [0.331, 0.3337, 0.992], "loss/width": [0.01303, 0.01289, 1.011], "loss/tolerance": [0.02019, 0.02008, 1.005]}, "rise": {"loss/objectness": -0.094, "loss/view": -0.038, "loss/score": -0.042, "loss/angle": -0.047, "loss/width": -0.235, "loss/tolerance": -0.307}, "grasps_per_frame": [526, 396, 433, 545], "no_gradient": [], "unchanged": [], "score_median": [0.1684, 0.1573, 0.1027, 0.1115], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__GraspNet-baseline__augment__shift.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set augment=shift -o recipe__GraspNet-baseline__augment__shift.yaml", "config_hash": "1240e6c215a8bf11", "run": "2026-10-16@1c8fd45", "seconds": 87.5},
  {"id": "recipe/Scale-Balanced-Grasp/augment/shift", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "augment=shift", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/width 0.78x"], "terms": {"loss/objectness": [0.1866, 0.1975, 0.945], "loss/view": [0.0822, 0.08244, 0.997], "loss/score": [0.01233, 0.01418, 0.869], "loss/angle": [0.3177, 0.3132, 1.014], "loss/width": [0.008978, 0.01146, 0.784], "loss/tolerance": [0.007476, 0.007067, 1.058]}, "rise": {"loss/objectness": -0.124, "loss/view": -0.014, "loss/score": -0.055, "loss/angle": -0.053, "loss/width": -0.205, "loss/tolerance": -0.293}, "grasps_per_frame": [193, 141, 171, 132], "no_gradient": [], "unchanged": [], "score_median": [0.03513, 0.03141, 0.06188, 0.02944], "checked": [14, 4], "schedule": "constant", "rate": 0.001, "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__augment__shift.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set augment=shift -o recipe__Scale-Balanced-Grasp__augment__shift.yaml", "config_hash": "d8007850bf2f42ab", "run": "2026-10-16@1c8fd45", "seconds": 125.9},
  {"id": "recipe/GSNet/recipe/adamw-onecycle", "kind": "recipe", "method": "GSNet", "option": "recipe=adamw-onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.338x the reference (tolerance 1.25)", "loss/graspness 2.043x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.77x, loss/score 0.66x"], "terms": {"loss/objectness": [0.209, 0.1562, 1.338], "loss/graspness": [0.1552, 0.07598, 2.043], "loss/view": [0.6526, 0.8476, 0.77], "loss/score": [0.02055, 0.0313, 0.657], "loss/width": [0.1111, 0.101, 1.099]}, "rise": {"loss/objectness": -0.146, "loss/graspness": -0.08, "loss/view": 0.053, "loss/score": -0.018, "loss/width": -0.029}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.07835, 0.07966, 0.08, 0.08179], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__recipe__adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set recipe=adamw-onecycle -o recipe__GSNet__recipe__adamw-onecycle.yaml", "config_hash": "8bd29af6af662d3c", "run": "2026-10-16@1c8fd45", "seconds": 141.8},
  {"id": "recipe/EconomicGrasp/recipe/adamw-onecycle", "kind": "recipe", "method": "EconomicGrasp", "option": "recipe=adamw-onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 1.968x the reference (tolerance 1.25)", "loss/graspness 2.342x the reference (tolerance 1.25)", "loss/width 1.252x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.2477, 0.1259, 1.968], "loss/graspness": [0.1485, 0.06338, 2.342], "loss/view": [0.7628, 0.8303, 0.919], "loss/angle": [1.431, 1.543, 0.927], "loss/depth": [0.7587, 0.7779, 0.975], "loss/score": [1.194, 1.31, 0.912], "loss/width": [0.7184, 0.5737, 1.252]}, "rise": {"loss/objectness": -0.174, "loss/graspness": -0.066, "loss/view": 0.008, "loss/angle": 0.012, "loss/depth": 0.017, "loss/score": 0.007, "loss/width": -0.009}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.852, -1.83, -1.846, -1.82], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__recipe__adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set recipe=adamw-onecycle -o recipe__EconomicGrasp__recipe__adamw-onecycle.yaml", "config_hash": "0ef33e67d471b460", "run": "2026-10-16@1c8fd45", "seconds": 147.6},
  {"id": "recipe/FineGrasp/recipe/adamw-onecycle", "kind": "recipe", "method": "FineGrasp", "option": "recipe=adamw-onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 1.252x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.08959, 0.08986, 0.997], "loss/graspness": [0.04414, 0.04722, 0.935], "loss/view": [0.8198, 0.7334, 1.118], "loss/angle": [1.173, 0.9369, 1.252], "loss/depth": [0.4936, 0.4363, 1.131], "loss/score": [0.9325, 0.8125, 1.148], "loss/width": [0.3693, 0.3151, 1.172]}, "rise": {"loss/objectness": -0.086, "loss/graspness": -0.151, "loss/view": -0.001, "loss/angle": -0.067, "loss/depth": -0.093, "loss/score": -0.076, "loss/width": -0.092}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.993, -1.331, -2.023, -1.572], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__recipe__adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set recipe=adamw-onecycle -o recipe__FineGrasp__recipe__adamw-onecycle.yaml", "config_hash": "c8980a233b3fe587", "run": "2026-10-16@1c8fd45", "seconds": 763.9},
  {"id": "recipe/GraspNet-baseline/recipe/adamw-onecycle", "kind": "recipe", "method": "GraspNet-baseline", "option": "recipe=adamw-onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.435x the reference (tolerance 1.25)", "loss/tolerance 1.956x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4038, 0.3739, 1.08], "loss/view": [0.03271, 0.02976, 1.099], "loss/score": [0.02433, 0.02246, 1.083], "loss/angle": [0.3607, 0.3337, 1.081], "loss/width": [0.0185, 0.01289, 1.435], "loss/tolerance": [0.03927, 0.02008, 1.956]}, "rise": {"loss/objectness": -0.029, "loss/view": -0.016, "loss/score": 0.016, "loss/angle": -0.02, "loss/width": -0.154, "loss/tolerance": -0.2}, "grasps_per_frame": [612, 212, 65, 6], "no_gradient": [], "unchanged": [], "score_median": [0.7433, 0.8343, 0.9534, 4.207], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__recipe__adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set recipe=adamw-onecycle -o recipe__GraspNet-baseline__recipe__adamw-onecycle.yaml", "config_hash": "15627e007c766f7e", "run": "2026-10-16@1c8fd45", "seconds": 87.4},
  {"id": "recipe/Scale-Balanced-Grasp/recipe/adamw-onecycle", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "recipe=adamw-onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.262x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/width 0.76x"], "terms": {"loss/objectness": [0.2165, 0.1975, 1.096], "loss/view": [0.08686, 0.08244, 1.054], "loss/score": [0.01476, 0.01418, 1.041], "loss/angle": [0.3509, 0.3132, 1.12], "loss/width": [0.008665, 0.01146, 0.756], "loss/tolerance": [0.008919, 0.007067, 1.262]}, "rise": {"loss/objectness": -0.045, "loss/view": 0.005, "loss/score": -0.043, "loss/angle": -0.024, "loss/width": -0.21, "loss/tolerance": -0.15}, "grasps_per_frame": [6, 34, 0, 3], "no_gradient": [], "unchanged": [], "score_median": [-1.39, 0.8637, null, -4.053], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__recipe__adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set recipe=adamw-onecycle -o recipe__Scale-Balanced-Grasp__recipe__adamw-onecycle.yaml", "config_hash": "259e475f09047407", "run": "2026-10-16@1c8fd45", "seconds": 126.4},
  {"id": "recipe/HGGD/recipe/adamw-onecycle", "kind": "recipe", "method": "HGGD", "option": "recipe=adamw-onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/angle 14.882x the reference (tolerance 1.55)", "loss/offsets 1.566x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.565, 1.405, 1.114], "loss/angle": [9.796, 0.6582, 14.882], "loss/offsets": [0.3377, 0.2157, 1.566], "loss/anchor": [1.149, 0.7677, 1.497], "loss/anchor_offset": [0.2214, 0.1935, 1.144]}, "rise": {"loss/heatmap": -0.035, "loss/angle": -0.243, "loss/offsets": -0.036, "loss/anchor": -0.06, "loss/anchor_offset": -0.001}, "grasps_per_frame": [460, 460, 460, 440], "no_gradient": [], "unchanged": [], "score_median": [0.09716, 0.09718, 0.09711, 0.09716], "checked": [17, 2], "schedule": "recipe", "probe": "grasppanda probe recipe__HGGD__recipe__adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set recipe=adamw-onecycle -o recipe__HGGD__recipe__adamw-onecycle.yaml", "config_hash": "94257d50e712d03f", "run": "2026-10-16@1c8fd45", "seconds": 201.2},
  {"id": "recipe/GSNet/recipe/finetune-encoder", "kind": "recipe", "method": "GSNet", "option": "recipe=finetune-encoder", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 2.905x the reference (tolerance 1.25)", "loss/graspness 2.408x the reference (tolerance 1.25)", "loss/width 1.345x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/view 0.66x, loss/score 0.78x"], "terms": {"loss/objectness": [0.4536, 0.1562, 2.905], "loss/graspness": [0.1829, 0.07598, 2.408], "loss/view": [0.5557, 0.8476, 0.656], "loss/score": [0.0243, 0.0313, 0.776], "loss/width": [0.1359, 0.101, 1.345]}, "rise": {"loss/objectness": -0.096, "loss/graspness": -0.015, "loss/view": 0.039, "loss/score": -0.024, "loss/width": -0.059}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09938, 0.09967, 0.1045, 0.1022], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__recipe__finetune-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set recipe=finetune-encoder -o recipe__GSNet__recipe__finetune-encoder.yaml", "config_hash": "554ae15dba0f0f6b", "run": "2026-10-16@1c8fd45", "seconds": 149.3},
  {"id": "recipe/EconomicGrasp/recipe/finetune-encoder", "kind": "recipe", "method": "EconomicGrasp", "option": "recipe=finetune-encoder", "level1": "runs", "outcome": "worse", "reasons": ["loss/objectness 4.147x the reference (tolerance 1.25)", "loss/graspness 2.838x the reference (tolerance 1.25)", "loss/width 1.282x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/angle 0.76x, loss/depth 0.79x, loss/score 0.76x"], "terms": {"loss/objectness": [0.522, 0.1259, 4.147], "loss/graspness": [0.1799, 0.06338, 2.838], "loss/view": [0.7392, 0.8303, 0.89], "loss/angle": [1.176, 1.543, 0.762], "loss/depth": [0.6156, 0.7779, 0.791], "loss/score": [0.993, 1.31, 0.758], "loss/width": [0.7355, 0.5737, 1.282]}, "rise": {"loss/objectness": -0.051, "loss/graspness": -0.028, "loss/view": 0.02, "loss/angle": 0.078, "loss/depth": 0.078, "loss/score": 0.075, "loss/width": 0.019}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.955, -2.961, -2.973, -2.977], "checked": [15, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__recipe__finetune-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set recipe=finetune-encoder -o recipe__EconomicGrasp__recipe__finetune-encoder.yaml", "config_hash": "35346d3f313912f5", "run": "2026-10-16@1c8fd45", "seconds": 154.5},
  {"id": "recipe/FineGrasp/recipe/finetune-encoder", "kind": "recipe", "method": "FineGrasp", "option": "recipe=finetune-encoder", "level1": "runs-unstable", "outcome": "worse", "reasons": ["loss/angle 1.401x the reference (tolerance 1.25)", "loss/depth 1.345x the reference (tolerance 1.25)", "loss/score 1.315x the reference (tolerance 1.25)", "loss/width 1.380x the reference (tolerance 1.25)"], "notes": ["unstable: 1 of 250 iterations had no real seed (iteration 1)."], "terms": {"loss/objectness": [0.09891, 0.08986, 1.101], "loss/graspness": [0.04854, 0.04722, 1.028], "loss/view": [0.7735, 0.7334, 1.055], "loss/angle": [1.313, 0.9369, 1.401], "loss/depth": [0.5871, 0.4363, 1.345], "loss/score": [1.069, 0.8125, 1.315], "loss/width": [0.4349, 0.3151, 1.38]}, "rise": {"loss/objectness": -0.035, "loss/graspness": -0.095, "loss/view": 0.009, "loss/angle": -0.062, "loss/depth": -0.093, "loss/score": -0.087, "loss/width": -0.154}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.415, -1.284, -1.267, -1.001], "checked": [14, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__recipe__finetune-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set recipe=finetune-encoder -o recipe__FineGrasp__recipe__finetune-encoder.yaml", "config_hash": "1324976b43ea1256", "run": "2026-10-16@1c8fd45", "seconds": 750.8},
  {"id": "recipe/GraspNet-baseline/recipe/finetune-encoder", "kind": "recipe", "method": "GraspNet-baseline", "option": "recipe=finetune-encoder", "level1": "runs", "outcome": "worse", "reasons": ["loss/width 1.623x the reference (tolerance 1.25)", "loss/tolerance 2.274x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.4465, 0.3739, 1.194], "loss/view": [0.03474, 0.02976, 1.167], "loss/score": [0.02473, 0.02246, 1.101], "loss/angle": [0.3644, 0.3337, 1.092], "loss/width": [0.02092, 0.01289, 1.623], "loss/tolerance": [0.04566, 0.02008, 2.274]}, "rise": {"loss/objectness": -0.025, "loss/view": -0.02, "loss/score": -0.007, "loss/angle": -0.015, "loss/width": -0.127, "loss/tolerance": -0.174}, "grasps_per_frame": [192, 317, 108, 54], "no_gradient": [], "unchanged": [], "score_median": [0.07854, 0.2964, 0.7527, 0.6136], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__recipe__finetune-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set recipe=finetune-encoder -o recipe__GraspNet-baseline__recipe__finetune-encoder.yaml", "config_hash": "d8998e7fff22aa8d", "run": "2026-10-16@1c8fd45", "seconds": 97.5},
  {"id": "recipe/Scale-Balanced-Grasp/recipe/finetune-encoder", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "recipe=finetune-encoder", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/objectness 1.307x the reference (tolerance 1.25)", "loss/tolerance 1.802x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.258, 0.1975, 1.307], "loss/view": [0.08938, 0.08244, 1.084], "loss/score": [0.01535, 0.01418, 1.082], "loss/angle": [0.3601, 0.3132, 1.15], "loss/width": [0.011, 0.01146, 0.96], "loss/tolerance": [0.01274, 0.007067, 1.802]}, "rise": {"loss/objectness": -0.015, "loss/view": 0.0, "loss/score": -0.031, "loss/angle": -0.014, "loss/width": -0.164, "loss/tolerance": -0.246}, "grasps_per_frame": [14, 33, 71, 22], "no_gradient": [], "unchanged": [], "score_median": [0.6136, -0.3457, 0.001318, 1.245], "checked": [14, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__recipe__finetune-encoder.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set recipe=finetune-encoder -o recipe__Scale-Balanced-Grasp__recipe__finetune-encoder.yaml", "config_hash": "68b15496e28bcea2", "run": "2026-10-16@1c8fd45", "seconds": 136.5},
  {"id": "recipe/GSNet/recipe/ptv3-adamw-onecycle", "kind": "recipe", "method": "GSNet", "option": "backbone=ptv3, recipe=ptv3-adamw-onecycle", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/score 0.73x"], "terms": {"loss/objectness": [0.1391, 0.1562, 0.891], "loss/graspness": [0.07793, 0.07598, 1.026], "loss/view": [0.8217, 0.8476, 0.969], "loss/score": [0.02285, 0.0313, 0.73], "loss/width": [0.1086, 0.101, 1.075]}, "rise": {"loss/objectness": -0.049, "loss/graspness": -0.111, "loss/view": 0.05, "loss/score": -0.017, "loss/width": -0.021}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [0.09084, 0.08975, 0.08898, 0.09071], "checked": [9, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__GSNet__recipe__ptv3-adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose gsnet/gsnet_sunet14_g1b-realsense_10e --set backbone=ptv3 --set recipe=ptv3-adamw-onecycle -o recipe__GSNet__recipe__ptv3-adamw-onecycle.yaml", "config_hash": "6f58b71c80d406f8", "run": "2026-10-16@1c8fd45", "seconds": 156.7},
  {"id": "recipe/EconomicGrasp/recipe/ptv3-adamw-onecycle", "kind": "recipe", "method": "EconomicGrasp", "option": "backbone=ptv3, recipe=ptv3-adamw-onecycle", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/angle 0.61x, loss/depth 0.62x, loss/score 0.62x"], "terms": {"loss/objectness": [0.1242, 0.1259, 0.987], "loss/graspness": [0.06459, 0.06338, 1.019], "loss/view": [0.9522, 0.8303, 1.147], "loss/angle": [0.9346, 1.543, 0.606], "loss/depth": [0.4789, 0.7779, 0.616], "loss/score": [0.8055, 1.31, 0.615], "loss/width": [0.5991, 0.5737, 1.044]}, "rise": {"loss/objectness": -0.047, "loss/graspness": -0.117, "loss/view": 0.009, "loss/angle": 0.008, "loss/depth": 0.001, "loss/score": 0.006, "loss/width": -0.036}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-1.093, -1.111, -1.143, -1.098], "checked": [12, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__EconomicGrasp__recipe__ptv3-adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose economicgrasp/economicgrasp_sunet14_g1b-realsense_10e --set backbone=ptv3 --set recipe=ptv3-adamw-onecycle -o recipe__EconomicGrasp__recipe__ptv3-adamw-onecycle.yaml", "config_hash": "7583329686f59a0c", "run": "2026-10-16@1c8fd45", "seconds": 168.4},
  {"id": "recipe/FineGrasp/recipe/ptv3-adamw-onecycle", "kind": "recipe", "method": "FineGrasp", "option": "backbone=ptv3, recipe=ptv3-adamw-onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/view 1.368x the reference (tolerance 1.25)"], "terms": {"loss/objectness": [0.0921, 0.08986, 1.025], "loss/graspness": [0.0408, 0.04722, 0.864], "loss/view": [1.003, 0.7334, 1.368], "loss/angle": [0.8665, 0.9369, 0.925], "loss/depth": [0.3638, 0.4363, 0.834], "loss/score": [0.687, 0.8125, 0.846], "loss/width": [0.3665, 0.3151, 1.163]}, "rise": {"loss/objectness": -0.046, "loss/graspness": -0.101, "loss/view": 0.0, "loss/angle": 0.022, "loss/depth": 0.002, "loss/score": 0.013, "loss/width": -0.057}, "grasps_per_frame": [1024, 1024, 1024, 1024], "no_gradient": [], "unchanged": [], "score_median": [-2.986, -2.3, -2.884, -2.459], "checked": [11, 5], "schedule": "recipe", "probe": "grasppanda probe recipe__FineGrasp__recipe__ptv3-adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose finegrasp/finegrasp_sunet14_g1b-realsense_10e --set backbone=ptv3 --set recipe=ptv3-adamw-onecycle -o recipe__FineGrasp__recipe__ptv3-adamw-onecycle.yaml", "config_hash": "8678ff5579a6833d", "run": "2026-10-16@1c8fd45", "seconds": 703.0},
  {"id": "recipe/GraspNet-baseline/recipe/ptv3-adamw-onecycle", "kind": "recipe", "method": "GraspNet-baseline", "option": "backbone=ptv3, recipe=ptv3-adamw-onecycle", "level1": "runs", "outcome": "worse", "reasons": ["loss/tolerance 1.363x the reference (tolerance 1.25)"], "notes": ["lower than the reference: loss/objectness 0.45x"], "terms": {"loss/objectness": [0.1682, 0.3739, 0.45], "loss/view": [0.03044, 0.02976, 1.023], "loss/score": [0.02203, 0.02246, 0.981], "loss/angle": [0.3686, 0.3337, 1.105], "loss/width": [0.01557, 0.01289, 1.208], "loss/tolerance": [0.02736, 0.02008, 1.363]}, "rise": {"loss/objectness": -0.088, "loss/view": -0.021, "loss/score": 0.001, "loss/angle": -0.01, "loss/width": -0.132, "loss/tolerance": -0.189}, "grasps_per_frame": [555, 491, 562, 546], "no_gradient": [], "unchanged": [], "score_median": [1.851, 1.985, 2.309, 1.806], "checked": [9, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__GraspNet-baseline__recipe__ptv3-adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe", "compose": "grasppanda compose graspnet_baseline/graspnet-baseline_pointnet2_g1b-realsense_18e --set backbone=ptv3 --set recipe=ptv3-adamw-onecycle -o recipe__GraspNet-baseline__recipe__ptv3-adamw-onecycle.yaml", "config_hash": "346bd6fa8d86fa28", "run": "2026-10-16@1c8fd45", "seconds": 153.2},
  {"id": "recipe/Scale-Balanced-Grasp/recipe/ptv3-adamw-onecycle", "kind": "recipe", "method": "Scale-Balanced-Grasp", "option": "backbone=ptv3, recipe=ptv3-adamw-onecycle", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/objectness 0.66x, loss/width 0.64x"], "terms": {"loss/objectness": [0.13, 0.1975, 0.658], "loss/view": [0.08486, 0.08244, 1.029], "loss/score": [0.01437, 0.01418, 1.014], "loss/angle": [0.3607, 0.3132, 1.152], "loss/width": [0.007302, 0.01146, 0.637], "loss/tolerance": [0.007842, 0.007067, 1.11]}, "rise": {"loss/objectness": -0.078, "loss/view": -0.007, "loss/score": 0.004, "loss/angle": -0.014, "loss/width": -0.143, "loss/tolerance": -0.222}, "grasps_per_frame": [78, 81, 96, 72], "no_gradient": [], "unchanged": [], "score_median": [-3.158, -4.951, -4.821, -3.459], "checked": [12, 4], "schedule": "recipe", "probe": "grasppanda probe recipe__Scale-Balanced-Grasp__recipe__ptv3-adamw-onecycle.yaml --iters 250 --frames 8 --predict-frames 4 --schedule recipe --opts data.train.dataset.scale_statistic.source=legacy_import data.train.dataset.scale_statistic.reference_sha256=909357a67265e93052ea309e455215298dbb067b8f4f3c2b511e015db7329cbd", "compose": "grasppanda compose scale_balanced_grasp/sbg_pointnet2-transformer_g1b-realsense_18e --set backbone=ptv3 --set recipe=ptv3-adamw-onecycle -o recipe__Scale-Balanced-Grasp__recipe__ptv3-adamw-onecycle.yaml", "config_hash": "538bbafc7e494ca7", "run": "2026-10-16@1c8fd45", "seconds": 156.8},
  {"id": "family-slot/HGGD/image_encoder/convnextv2-atto", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=convnextv2-atto", "level1": "runs-empty", "outcome": "worse", "reasons": ["loss/heatmap 1.621x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [2.277, 1.405, 1.621], "loss/angle": [0.7566, 0.6582, 1.15], "loss/offsets": [0.3276, 0.2157, 1.519], "loss/anchor": [1.03, 0.7677, 1.342], "loss/anchor_offset": [0.2166, 0.1935, 1.119]}, "rise": {"loss/heatmap": -0.013, "loss/angle": -0.052, "loss/offsets": -0.088, "loss/anchor": -0.309, "loss/anchor_offset": -0.399}, "grasps_per_frame": [409, 379, 418, 363], "no_gradient": [], "unchanged": [], "score_median": [0.1681, 0.1741, 0.1692, 0.1662], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__convnextv2-atto.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=convnextv2-atto -o family-slot__HGGD__image_encoder__convnextv2-atto.yaml", "config_hash": "f1fc82b16e46ca05", "run": "2026-10-16@1c8fd45", "seconds": 189.1},
  {"id": "family-slot/HGGD/image_encoder/convnextv2-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=convnextv2-tiny", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.719, 1.405, 1.224], "loss/angle": [0.9007, 0.6582, 1.368], "loss/offsets": [0.1746, 0.2157, 0.81], "loss/anchor": [1.182, 0.7677, 1.54], "loss/anchor_offset": [0.1692, 0.1935, 0.874]}, "rise": {"loss/heatmap": -0.009, "loss/angle": -0.1, "loss/offsets": -0.111, "loss/anchor": -0.094, "loss/anchor_offset": -0.34}, "grasps_per_frame": [124, 148, 168, 178], "no_gradient": [], "unchanged": [], "score_median": [0.06036, 0.06664, 0.06323, 0.06083], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__convnextv2-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=convnextv2-tiny -o family-slot__HGGD__image_encoder__convnextv2-tiny.yaml", "config_hash": "1ef10481dc4821a5", "run": "2026-10-16@1c8fd45", "seconds": 215.6},
  {"id": "family-slot/HGGD/image_encoder/dinov2-small-reg-depth-stem", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=dinov2-small-reg-depth-stem", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.87, 1.405, 1.331], "loss/angle": [0.7781, 0.6582, 1.182], "loss/offsets": [0.1711, 0.2157, 0.793], "loss/anchor": [1.188, 0.7677, 1.548], "loss/anchor_offset": [0.2132, 0.1935, 1.102]}, "rise": {"loss/heatmap": -0.023, "loss/angle": -0.099, "loss/offsets": -0.114, "loss/anchor": -0.181, "loss/anchor_offset": -0.277}, "grasps_per_frame": [480, 480, 460, 480], "no_gradient": [], "unchanged": [], "score_median": [0.08567, 0.08481, 0.08635, 0.08427], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__dinov2-small-reg-depth-stem.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=dinov2-small-reg-depth-stem -o family-slot__HGGD__image_encoder__dinov2-small-reg-depth-stem.yaml", "config_hash": "cc837598847c926b", "run": "2026-10-16@1c8fd45", "seconds": 219.4},
  {"id": "family-slot/HGGD/image_encoder/dinov2-small-reg", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=dinov2-small-reg", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 2.051x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.622, 1.405, 1.155], "loss/angle": [0.78, 0.6582, 1.185], "loss/offsets": [0.2256, 0.2157, 1.046], "loss/anchor": [1.575, 0.7677, 2.051], "loss/anchor_offset": [0.2089, 0.1935, 1.079]}, "rise": {"loss/heatmap": -0.004, "loss/angle": -0.046, "loss/offsets": -0.066, "loss/anchor": 0.009, "loss/anchor_offset": -0.247}, "grasps_per_frame": [336, 336, 337, 336], "no_gradient": [], "unchanged": [], "score_median": [0.07088, 0.07219, 0.07088, 0.07087], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__dinov2-small-reg.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=dinov2-small-reg -o family-slot__HGGD__image_encoder__dinov2-small-reg.yaml", "config_hash": "1ab1a44addbe1504", "run": "2026-10-16@1c8fd45", "seconds": 206.4},
  {"id": "family-slot/HGGD/image_encoder/dinov3-convnext-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=dinov3-convnext-tiny", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.601, 1.405, 1.14], "loss/angle": [0.8849, 0.6582, 1.344], "loss/offsets": [0.2164, 0.2157, 1.003], "loss/anchor": [0.8225, 0.7677, 1.071], "loss/anchor_offset": [0.2221, 0.1935, 1.147]}, "rise": {"loss/heatmap": -0.002, "loss/angle": -0.024, "loss/offsets": -0.154, "loss/anchor": -0.254, "loss/anchor_offset": -0.18}, "grasps_per_frame": [480, 470, 480, 460], "no_gradient": [], "unchanged": [], "score_median": [0.09804, 0.1063, 0.1025, 0.1062], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__dinov3-convnext-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=dinov3-convnext-tiny -o family-slot__HGGD__image_encoder__dinov3-convnext-tiny.yaml", "config_hash": "38a19a279339999d", "run": "2026-10-16@1c8fd45", "seconds": 205.9},
  {"id": "family-slot/HGGD/image_encoder/dinov3-vits16", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=dinov3-vits16", "level1": "runs", "outcome": "diverging", "reasons": ["loss/anchor rises +72 % over the last half; the reference -6 %", "loss/anchor 2.338x the reference (tolerance 1.55)"], "notes": ["lower than the reference: loss/offsets 0.64x"], "terms": {"loss/heatmap": [1.615, 1.405, 1.15], "loss/angle": [0.7528, 0.6582, 1.144], "loss/offsets": [0.1388, 0.2157, 0.644], "loss/anchor": [1.795, 0.7677, 2.338], "loss/anchor_offset": [0.2003, 0.1935, 1.035]}, "rise": {"loss/heatmap": -0.004, "loss/angle": -0.101, "loss/offsets": -0.209, "loss/anchor": 0.722, "loss/anchor_offset": -0.428}, "grasps_per_frame": [288, 284, 276, 277], "no_gradient": [], "unchanged": [], "score_median": [0.04849, 0.04974, 0.0485, 0.04828], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__dinov3-vits16.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=dinov3-vits16 -o family-slot__HGGD__image_encoder__dinov3-vits16.yaml", "config_hash": "9e28c65f7c9c955b", "run": "2026-10-16@1c8fd45", "seconds": 218.0},
  {"id": "family-slot/HGGD/image_encoder/efficientnetv2-s", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=efficientnetv2-s", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.45x"], "terms": {"loss/heatmap": [1.487, 1.405, 1.058], "loss/angle": [0.8001, 0.6582, 1.216], "loss/offsets": [0.09671, 0.2157, 0.448], "loss/anchor": [1.082, 0.7677, 1.41], "loss/anchor_offset": [0.2268, 0.1935, 1.172]}, "rise": {"loss/heatmap": -0.041, "loss/angle": -0.13, "loss/offsets": -0.244, "loss/anchor": -0.139, "loss/anchor_offset": -0.164}, "grasps_per_frame": [480, 479, 480, 480], "no_gradient": [], "unchanged": [], "score_median": [0.1296, 0.1286, 0.1299, 0.1295], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__efficientnetv2-s.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=efficientnetv2-s -o family-slot__HGGD__image_encoder__efficientnetv2-s.yaml", "config_hash": "04decd1e4293b7a7", "run": "2026-10-16@1c8fd45", "seconds": 194.1},
  {"id": "family-slot/HGGD/image_encoder/efficientvit-b1", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=efficientvit-b1", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 1.588x the reference (tolerance 1.55)"], "notes": ["lower than the reference: loss/offsets 0.53x"], "terms": {"loss/heatmap": [1.611, 1.405, 1.147], "loss/angle": [0.8315, 0.6582, 1.263], "loss/offsets": [0.1143, 0.2157, 0.53], "loss/anchor": [1.219, 0.7677, 1.588], "loss/anchor_offset": [0.2238, 0.1935, 1.156]}, "rise": {"loss/heatmap": -0.005, "loss/angle": -0.085, "loss/offsets": -0.142, "loss/anchor": -0.052, "loss/anchor_offset": -0.289}, "grasps_per_frame": [378, 383, 394, 395], "no_gradient": [], "unchanged": [], "score_median": [0.09461, 0.09459, 0.09307, 0.09414], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__efficientvit-b1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=efficientvit-b1 -o family-slot__HGGD__image_encoder__efficientvit-b1.yaml", "config_hash": "db65d77a2e35c194", "run": "2026-10-16@1c8fd45", "seconds": 187.3},
  {"id": "family-slot/HGGD/image_encoder/eva02-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=eva02-tiny", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 1.669x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.611, 1.405, 1.147], "loss/angle": [0.8318, 0.6582, 1.264], "loss/offsets": [0.1394, 0.2157, 0.646], "loss/anchor": [1.281, 0.7677, 1.669], "loss/anchor_offset": [0.2236, 0.1935, 1.155]}, "rise": {"loss/heatmap": -0.006, "loss/angle": -0.067, "loss/offsets": -0.245, "loss/anchor": -0.021, "loss/anchor_offset": -0.142}, "grasps_per_frame": [418, 444, 429, 398], "no_gradient": [], "unchanged": [], "score_median": [0.09658, 0.08632, 0.09556, 0.05494], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__eva02-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=eva02-tiny -o family-slot__HGGD__image_encoder__eva02-tiny.yaml", "config_hash": "cefa061ffcfad611", "run": "2026-10-16@1c8fd45", "seconds": 203.5},
  {"id": "family-slot/HGGD/image_encoder/fastvit-sa12", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=fastvit-sa12", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.301, 1.405, 0.926], "loss/angle": [0.6861, 0.6582, 1.042], "loss/offsets": [0.2342, 0.2157, 1.086], "loss/anchor": [0.7846, 0.7677, 1.022], "loss/anchor_offset": [0.2182, 0.1935, 1.127]}, "rise": {"loss/heatmap": -0.094, "loss/angle": -0.098, "loss/offsets": -0.197, "loss/anchor": -0.142, "loss/anchor_offset": -0.11}, "grasps_per_frame": [480, 480, 480, 470], "no_gradient": [], "unchanged": [], "score_median": [0.1968, 0.1948, 0.1968, 0.1982], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__fastvit-sa12.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=fastvit-sa12 -o family-slot__HGGD__image_encoder__fastvit-sa12.yaml", "config_hash": "38f88fdc1a06b68c", "run": "2026-10-16@1c8fd45", "seconds": 197.5},
  {"id": "family-slot/HGGD/image_encoder/fastvit-t8", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=fastvit-t8", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.405, 1.405, 1.0], "loss/angle": [0.5661, 0.6582, 0.86], "loss/offsets": [0.1481, 0.2157, 0.687], "loss/anchor": [0.7981, 0.7677, 1.04], "loss/anchor_offset": [0.1997, 0.1935, 1.032]}, "rise": {"loss/heatmap": -0.073, "loss/angle": -0.157, "loss/offsets": -0.149, "loss/anchor": -0.24, "loss/anchor_offset": -0.111}, "grasps_per_frame": [480, 480, 470, 470], "no_gradient": [], "unchanged": [], "score_median": [0.2021, 0.2025, 0.2045, 0.2042], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__fastvit-t8.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=fastvit-t8 -o family-slot__HGGD__image_encoder__fastvit-t8.yaml", "config_hash": "84bde56ceda3e76d", "run": "2026-10-16@1c8fd45", "seconds": 197.6},
  {"id": "family-slot/HGGD/image_encoder/hf-convnextv2-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hf-convnextv2-tiny", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.587, 1.405, 1.13], "loss/angle": [0.8161, 0.6582, 1.24], "loss/offsets": [0.1658, 0.2157, 0.769], "loss/anchor": [0.964, 0.7677, 1.256], "loss/anchor_offset": [0.2048, 0.1935, 1.058]}, "rise": {"loss/heatmap": -0.014, "loss/angle": -0.041, "loss/offsets": -0.181, "loss/anchor": -0.148, "loss/anchor_offset": -0.185}, "grasps_per_frame": [480, 480, 480, 470], "no_gradient": [], "unchanged": [], "score_median": [0.1659, 0.1658, 0.165, 0.1673], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hf-convnextv2-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hf-convnextv2-tiny -o family-slot__HGGD__image_encoder__hf-convnextv2-tiny.yaml", "config_hash": "47b76aabec371298", "run": "2026-10-16@1c8fd45", "seconds": 222.8},
  {"id": "family-slot/HGGD/image_encoder/hf-depth-anything-v2-small", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hf-depth-anything-v2-small", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 1.710x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.547, 1.405, 1.101], "loss/angle": [0.8642, 0.6582, 1.313], "loss/offsets": [0.2667, 0.2157, 1.237], "loss/anchor": [1.313, 0.7677, 1.71], "loss/anchor_offset": [0.2186, 0.1935, 1.129]}, "rise": {"loss/heatmap": -0.007, "loss/angle": -0.055, "loss/offsets": -0.061, "loss/anchor": -0.032, "loss/anchor_offset": -0.317}, "grasps_per_frame": [467, 465, 464, 455], "no_gradient": [], "unchanged": [], "score_median": [0.1027, 0.1027, 0.1036, 0.1049], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hf-depth-anything-v2-small.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hf-depth-anything-v2-small -o family-slot__HGGD__image_encoder__hf-depth-anything-v2-small.yaml", "config_hash": "5f2da0d7a6f9e33d", "run": "2026-10-16@1c8fd45", "seconds": 212.6},
  {"id": "family-slot/HGGD/image_encoder/hf-dinov2-small-reg", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hf-dinov2-small-reg", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.87, 1.405, 1.331], "loss/angle": [0.8479, 0.6582, 1.288], "loss/offsets": [0.202, 0.2157, 0.936], "loss/anchor": [1.137, 0.7677, 1.481], "loss/anchor_offset": [0.2452, 0.1935, 1.267]}, "rise": {"loss/heatmap": -0.059, "loss/angle": -0.085, "loss/offsets": -0.133, "loss/anchor": -0.335, "loss/anchor_offset": -0.301}, "grasps_per_frame": [406, 397, 392, 404], "no_gradient": [], "unchanged": [], "score_median": [0.1264, 0.1266, 0.1269, 0.1262], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hf-dinov2-small-reg.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hf-dinov2-small-reg -o family-slot__HGGD__image_encoder__hf-dinov2-small-reg.yaml", "config_hash": "74058b91f9f35155", "run": "2026-10-16@1c8fd45", "seconds": 226.6},
  {"id": "family-slot/HGGD/image_encoder/hf-dinov2-small", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hf-dinov2-small", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 2.011x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.616, 1.405, 1.15], "loss/angle": [0.7871, 0.6582, 1.196], "loss/offsets": [0.1613, 0.2157, 0.748], "loss/anchor": [1.544, 0.7677, 2.011], "loss/anchor_offset": [0.186, 0.1935, 0.961]}, "rise": {"loss/heatmap": -0.003, "loss/angle": -0.084, "loss/offsets": -0.085, "loss/anchor": -0.087, "loss/anchor_offset": -0.37}, "grasps_per_frame": [480, 480, 480, 480], "no_gradient": [], "unchanged": [], "score_median": [0.07691, 0.07319, 0.07691, 0.07374], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hf-dinov2-small.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hf-dinov2-small -o family-slot__HGGD__image_encoder__hf-dinov2-small.yaml", "config_hash": "4959e3f387923a0a", "run": "2026-10-16@1c8fd45", "seconds": 211.9},
  {"id": "family-slot/HGGD/image_encoder/hf-hiera-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hf-hiera-tiny", "level1": "runs", "outcome": "worse", "reasons": ["loss/offsets 1.685x the reference (tolerance 1.55)", "loss/anchor 1.901x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.725, 1.405, 1.228], "loss/angle": [0.9447, 0.6582, 1.435], "loss/offsets": [0.3633, 0.2157, 1.685], "loss/anchor": [1.46, 0.7677, 1.901], "loss/anchor_offset": [0.1527, 0.1935, 0.789]}, "rise": {"loss/heatmap": -0.061, "loss/angle": -0.055, "loss/offsets": -0.107, "loss/anchor": -0.126, "loss/anchor_offset": -0.36}, "grasps_per_frame": [336, 336, 329, 322], "no_gradient": [], "unchanged": [], "score_median": [0.06481, 0.0648, 0.06482, 0.06482], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hf-hiera-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hf-hiera-tiny -o family-slot__HGGD__image_encoder__hf-hiera-tiny.yaml", "config_hash": "f6efe2964620d802", "run": "2026-10-16@1c8fd45", "seconds": 170.2},
  {"id": "family-slot/HGGD/image_encoder/hf-siglip2-base", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hf-siglip2-base", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.742, 1.405, 1.24], "loss/angle": [0.7314, 0.6582, 1.111], "loss/offsets": [0.2049, 0.2157, 0.95], "loss/anchor": [1.164, 0.7677, 1.516], "loss/anchor_offset": [0.2165, 0.1935, 1.119]}, "rise": {"loss/heatmap": -0.018, "loss/angle": -0.08, "loss/offsets": -0.211, "loss/anchor": -0.141, "loss/anchor_offset": -0.596}, "grasps_per_frame": [480, 480, 480, 470], "no_gradient": [], "unchanged": [], "score_median": [0.1386, 0.1384, 0.1372, 0.1391], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hf-siglip2-base.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hf-siglip2-base -o family-slot__HGGD__image_encoder__hf-siglip2-base.yaml", "config_hash": "9fbdc15f5df05f37", "run": "2026-10-16@1c8fd45", "seconds": 226.7},
  {"id": "family-slot/HGGD/image_encoder/hf-swinv2-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hf-swinv2-tiny", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.554, 1.405, 1.106], "loss/angle": [0.8147, 0.6582, 1.238], "loss/offsets": [0.1396, 0.2157, 0.647], "loss/anchor": [0.8869, 0.7677, 1.155], "loss/anchor_offset": [0.1971, 0.1935, 1.018]}, "rise": {"loss/heatmap": -0.038, "loss/angle": -0.037, "loss/offsets": -0.196, "loss/anchor": -0.165, "loss/anchor_offset": -0.236}, "grasps_per_frame": [480, 480, 480, 470], "no_gradient": [], "unchanged": [], "score_median": [0.161, 0.1624, 0.1633, 0.1603], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hf-swinv2-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hf-swinv2-tiny -o family-slot__HGGD__image_encoder__hf-swinv2-tiny.yaml", "config_hash": "08fe3e5aca6a6378", "run": "2026-10-16@1c8fd45", "seconds": 205.3},
  {"id": "family-slot/HGGD/image_encoder/hggd-residual", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hggd-residual", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.404, 1.405, 0.999], "loss/angle": [0.6568, 0.6582, 0.998], "loss/offsets": [0.213, 0.2157, 0.987], "loss/anchor": [0.7813, 0.7677, 1.018], "loss/anchor_offset": [0.186, 0.1935, 0.961]}, "rise": {"loss/heatmap": -0.027, "loss/angle": -0.166, "loss/offsets": -0.182, "loss/anchor": -0.062, "loss/anchor_offset": -0.107}, "grasps_per_frame": [470, 480, 470, 420], "no_gradient": [], "unchanged": [], "score_median": [0.2039, 0.2043, 0.2034, 0.2023], "checked": [17, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hggd-residual.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hggd-residual -o family-slot__HGGD__image_encoder__hggd-residual.yaml", "config_hash": "575cc1c08e69b158", "run": "2026-10-16@1c8fd45", "seconds": 177.5},
  {"id": "family-slot/HGGD/image_encoder/hiera-small-abswin", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=hiera-small-abswin", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.52x"], "terms": {"loss/heatmap": [1.515, 1.405, 1.078], "loss/angle": [0.7868, 0.6582, 1.195], "loss/offsets": [0.112, 0.2157, 0.519], "loss/anchor": [0.8912, 0.7677, 1.161], "loss/anchor_offset": [0.2334, 0.1935, 1.206]}, "rise": {"loss/heatmap": -0.025, "loss/angle": -0.047, "loss/offsets": -0.257, "loss/anchor": -0.341, "loss/anchor_offset": -0.188}, "grasps_per_frame": [478, 477, 480, 476], "no_gradient": [], "unchanged": [], "score_median": [0.1643, 0.1646, 0.1645, 0.1647], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__hiera-small-abswin.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=hiera-small-abswin -o family-slot__HGGD__image_encoder__hiera-small-abswin.yaml", "config_hash": "8d2ce99342d058ab", "run": "2026-10-16@1c8fd45", "seconds": 209.7},
  {"id": "family-slot/HGGD/image_encoder/maxvit-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=maxvit-tiny", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.41x"], "terms": {"loss/heatmap": [1.607, 1.405, 1.144], "loss/angle": [0.7537, 0.6582, 1.145], "loss/offsets": [0.0884, 0.2157, 0.41], "loss/anchor": [1.028, 0.7677, 1.34], "loss/anchor_offset": [0.2314, 0.1935, 1.196]}, "rise": {"loss/heatmap": -0.004, "loss/angle": -0.095, "loss/offsets": -0.227, "loss/anchor": -0.114, "loss/anchor_offset": -0.124}, "grasps_per_frame": [480, 480, 480, 478], "no_gradient": [], "unchanged": [], "score_median": [0.1408, 0.1405, 0.1409, 0.1403], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__maxvit-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=maxvit-tiny -o family-slot__HGGD__image_encoder__maxvit-tiny.yaml", "config_hash": "a9ef979c92dc4c17", "run": "2026-10-16@1c8fd45", "seconds": 251.3},
  {"id": "family-slot/HGGD/image_encoder/mobilenetv4-conv-small", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=mobilenetv4-conv-small", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.50x"], "terms": {"loss/heatmap": [1.403, 1.405, 0.999], "loss/angle": [0.6894, 0.6582, 1.047], "loss/offsets": [0.1084, 0.2157, 0.502], "loss/anchor": [1.08, 0.7677, 1.407], "loss/anchor_offset": [0.2241, 0.1935, 1.158]}, "rise": {"loss/heatmap": -0.034, "loss/angle": -0.09, "loss/offsets": -0.156, "loss/anchor": 0.053, "loss/anchor_offset": -0.175}, "grasps_per_frame": [440, 432, 439, 440], "no_gradient": [], "unchanged": [], "score_median": [0.1719, 0.1759, 0.1679, 0.1637], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__mobilenetv4-conv-small.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=mobilenetv4-conv-small -o family-slot__HGGD__image_encoder__mobilenetv4-conv-small.yaml", "config_hash": "99e51f625abf5e06", "run": "2026-10-16@1c8fd45", "seconds": 183.7},
  {"id": "family-slot/HGGD/image_encoder/mobilenetv4-hybrid-medium", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=mobilenetv4-hybrid-medium", "level1": "runs-empty", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.60x"], "terms": {"loss/heatmap": [1.71, 1.405, 1.217], "loss/angle": [0.971, 0.6582, 1.475], "loss/offsets": [0.1286, 0.2157, 0.596], "loss/anchor": [1.146, 0.7677, 1.492], "loss/anchor_offset": [0.2355, 0.1935, 1.217]}, "rise": {"loss/heatmap": -0.016, "loss/angle": -0.099, "loss/offsets": -0.226, "loss/anchor": -0.154, "loss/anchor_offset": -0.172}, "grasps_per_frame": [0, 336, 321, 326], "no_gradient": [], "unchanged": [], "score_median": [null, 0.1313, 0.1282, 0.1306], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__mobilenetv4-hybrid-medium.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=mobilenetv4-hybrid-medium -o family-slot__HGGD__image_encoder__mobilenetv4-hybrid-medium.yaml", "config_hash": "9e8884d8660d4362", "run": "2026-10-16@1c8fd45", "seconds": 193.9},
  {"id": "family-slot/HGGD/image_encoder/pe-spatial-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=pe-spatial-tiny", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 2.266x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.654, 1.405, 1.177], "loss/angle": [0.9495, 0.6582, 1.443], "loss/offsets": [0.2432, 0.2157, 1.127], "loss/anchor": [1.739, 0.7677, 2.266], "loss/anchor_offset": [0.2714, 0.1935, 1.402]}, "rise": {"loss/heatmap": -0.049, "loss/angle": -0.04, "loss/offsets": -0.054, "loss/anchor": -0.003, "loss/anchor_offset": -0.139}, "grasps_per_frame": [432, 432, 423, 432], "no_gradient": [], "unchanged": [], "score_median": [0.03873, 0.0383, 0.03847, 0.03896], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__pe-spatial-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=pe-spatial-tiny -o family-slot__HGGD__image_encoder__pe-spatial-tiny.yaml", "config_hash": "746af6f750789133", "run": "2026-10-16@1c8fd45", "seconds": 186.5},
  {"id": "family-slot/HGGD/image_encoder/repvit-m1", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=repvit-m1", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 1.629x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.581, 1.405, 1.125], "loss/angle": [0.7167, 0.6582, 1.089], "loss/offsets": [0.1595, 0.2157, 0.739], "loss/anchor": [1.25, 0.7677, 1.629], "loss/anchor_offset": [0.2548, 0.1935, 1.316]}, "rise": {"loss/heatmap": -0.004, "loss/angle": -0.095, "loss/offsets": -0.127, "loss/anchor": -0.041, "loss/anchor_offset": -0.001}, "grasps_per_frame": [434, 436, 416, 423], "no_gradient": [], "unchanged": [], "score_median": [0.1009, 0.1003, 0.1004, 0.1006], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__repvit-m1.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=repvit-m1 -o family-slot__HGGD__image_encoder__repvit-m1.yaml", "config_hash": "e5fd10f37b332a53", "run": "2026-10-16@1c8fd45", "seconds": 192.1},
  {"id": "family-slot/HGGD/image_encoder/resnet18", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=resnet18", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.34x"], "terms": {"loss/heatmap": [1.572, 1.405, 1.119], "loss/angle": [0.6589, 0.6582, 1.001], "loss/offsets": [0.07342, 0.2157, 0.34], "loss/anchor": [0.9147, 0.7677, 1.192], "loss/anchor_offset": [0.209, 0.1935, 1.08]}, "rise": {"loss/heatmap": -0.012, "loss/angle": -0.126, "loss/offsets": -0.319, "loss/anchor": -0.364, "loss/anchor_offset": -0.318}, "grasps_per_frame": [302, 320, 355, 399], "no_gradient": [], "unchanged": [], "score_median": [0.01434, 0.01506, 0.01612, 0.08213], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__resnet18.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=resnet18 -o family-slot__HGGD__image_encoder__resnet18.yaml", "config_hash": "7d8ae571df3965cb", "run": "2026-10-16@1c8fd45", "seconds": 188.3},
  {"id": "family-slot/HGGD/image_encoder/resnet34-rgbd", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=resnet34-rgbd", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.39x"], "terms": {"loss/heatmap": [1.591, 1.405, 1.132], "loss/angle": [0.8118, 0.6582, 1.233], "loss/offsets": [0.08473, 0.2157, 0.393], "loss/anchor": [1.012, 0.7677, 1.318], "loss/anchor_offset": [0.2375, 0.1935, 1.227]}, "rise": {"loss/heatmap": -0.001, "loss/angle": -0.082, "loss/offsets": -0.259, "loss/anchor": -0.214, "loss/anchor_offset": -0.115}, "grasps_per_frame": [480, 480, 480, 480], "no_gradient": [], "unchanged": [], "score_median": [0.1323, 0.1322, 0.1343, 0.1287], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__resnet34-rgbd.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=resnet34-rgbd -o family-slot__HGGD__image_encoder__resnet34-rgbd.yaml", "config_hash": "0aa00270d532acbd", "run": "2026-10-16@1c8fd45", "seconds": 193.2},
  {"id": "family-slot/HGGD/image_encoder/resnet34", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=resnet34", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.43x"], "terms": {"loss/heatmap": [1.593, 1.405, 1.134], "loss/angle": [0.8245, 0.6582, 1.253], "loss/offsets": [0.09379, 0.2157, 0.435], "loss/anchor": [0.8199, 0.7677, 1.068], "loss/anchor_offset": [0.2135, 0.1935, 1.103]}, "rise": {"loss/heatmap": -0.01, "loss/angle": -0.092, "loss/offsets": -0.237, "loss/anchor": -0.211, "loss/anchor_offset": -0.166}, "grasps_per_frame": [480, 480, 480, 470], "no_gradient": [], "unchanged": [], "score_median": [0.1039, 0.1064, 0.09681, 0.0939], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__resnet34.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=resnet34 -o family-slot__HGGD__image_encoder__resnet34.yaml", "config_hash": "e50c21bb7292538f", "run": "2026-10-16@1c8fd45", "seconds": 198.1},
  {"id": "family-slot/HGGD/image_encoder/resnet50", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=resnet50", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.32x"], "terms": {"loss/heatmap": [1.473, 1.405, 1.049], "loss/angle": [0.8015, 0.6582, 1.218], "loss/offsets": [0.0693, 0.2157, 0.321], "loss/anchor": [0.8649, 0.7677, 1.127], "loss/anchor_offset": [0.2258, 0.1935, 1.167]}, "rise": {"loss/heatmap": -0.059, "loss/angle": -0.075, "loss/offsets": -0.184, "loss/anchor": -0.099, "loss/anchor_offset": -0.026}, "grasps_per_frame": [480, 480, 480, 480], "no_gradient": [], "unchanged": [], "score_median": [0.181, 0.1843, 0.1738, 0.1722], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__resnet50.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=resnet50 -o family-slot__HGGD__image_encoder__resnet50.yaml", "config_hash": "194973aaa7325b89", "run": "2026-10-16@1c8fd45", "seconds": 206.6},
  {"id": "family-slot/HGGD/image_encoder/sam2-hiera-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=sam2-hiera-tiny", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 1.588x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.623, 1.405, 1.156], "loss/angle": [0.9162, 0.6582, 1.392], "loss/offsets": [0.2098, 0.2157, 0.973], "loss/anchor": [1.219, 0.7677, 1.588], "loss/anchor_offset": [0.1473, 0.1935, 0.761]}, "rise": {"loss/heatmap": -0.005, "loss/angle": -0.068, "loss/offsets": -0.17, "loss/anchor": 0.053, "loss/anchor_offset": -0.346}, "grasps_per_frame": [283, 288, 285, 265], "no_gradient": [], "unchanged": [], "score_median": [0.06098, 0.05024, 0.05341, 0.05809], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__sam2-hiera-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=sam2-hiera-tiny -o family-slot__HGGD__image_encoder__sam2-hiera-tiny.yaml", "config_hash": "aaeed118b5c62afa", "run": "2026-10-16@1c8fd45", "seconds": 198.1},
  {"id": "family-slot/HGGD/image_encoder/siglip2-base", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=siglip2-base", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.546, 1.405, 1.1], "loss/angle": [0.8009, 0.6582, 1.217], "loss/offsets": [0.1509, 0.2157, 0.7], "loss/anchor": [1.135, 0.7677, 1.478], "loss/anchor_offset": [0.2132, 0.1935, 1.102]}, "rise": {"loss/heatmap": -0.023, "loss/angle": -0.087, "loss/offsets": -0.264, "loss/anchor": -0.041, "loss/anchor_offset": -0.083}, "grasps_per_frame": [396, 384, 384, 384], "no_gradient": [], "unchanged": [], "score_median": [0.1343, 0.1367, 0.1344, 0.1344], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__siglip2-base.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=siglip2-base -o family-slot__HGGD__image_encoder__siglip2-base.yaml", "config_hash": "da9395707f1ecdb9", "run": "2026-10-16@1c8fd45", "seconds": 237.3},
  {"id": "family-slot/HGGD/image_encoder/swinv2-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=swinv2-tiny", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 1.779x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.667, 1.405, 1.187], "loss/angle": [0.9554, 0.6582, 1.451], "loss/offsets": [0.2316, 0.2157, 1.074], "loss/anchor": [1.366, 0.7677, 1.779], "loss/anchor_offset": [0.2523, 0.1935, 1.303]}, "rise": {"loss/heatmap": -0.009, "loss/angle": -0.047, "loss/offsets": -0.06, "loss/anchor": -0.043, "loss/anchor_offset": -0.024}, "grasps_per_frame": [398, 409, 390, 400], "no_gradient": [], "unchanged": [], "score_median": [0.07161, 0.07477, 0.07445, 0.07764], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__swinv2-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=swinv2-tiny -o family-slot__HGGD__image_encoder__swinv2-tiny.yaml", "config_hash": "10dc9816e8b37925", "run": "2026-10-16@1c8fd45", "seconds": 233.4},
  {"id": "family-slot/HGGD/image_encoder/tv-convnext-tiny", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=tv-convnext-tiny", "level1": "runs", "outcome": "worse", "reasons": ["loss/anchor 1.633x the reference (tolerance 1.55)"], "terms": {"loss/heatmap": [1.64, 1.405, 1.168], "loss/angle": [0.8822, 0.6582, 1.34], "loss/offsets": [0.1401, 0.2157, 0.649], "loss/anchor": [1.254, 0.7677, 1.633], "loss/anchor_offset": [0.1585, 0.1935, 0.819]}, "rise": {"loss/heatmap": -0.004, "loss/angle": -0.058, "loss/offsets": -0.167, "loss/anchor": -0.229, "loss/anchor_offset": -0.619}, "grasps_per_frame": [296, 352, 312, 328], "no_gradient": [], "unchanged": [], "score_median": [0.08903, 0.08783, 0.08815, 0.08951], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__tv-convnext-tiny.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=tv-convnext-tiny -o family-slot__HGGD__image_encoder__tv-convnext-tiny.yaml", "config_hash": "54e387e6b9df48f0", "run": "2026-10-16@1c8fd45", "seconds": 199.9},
  {"id": "family-slot/HGGD/image_encoder/tv-efficientnetv2-s", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=tv-efficientnetv2-s", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.43x"], "terms": {"loss/heatmap": [1.482, 1.405, 1.055], "loss/angle": [0.6305, 0.6582, 0.958], "loss/offsets": [0.09186, 0.2157, 0.426], "loss/anchor": [0.6866, 0.7677, 0.894], "loss/anchor_offset": [0.1918, 0.1935, 0.991]}, "rise": {"loss/heatmap": -0.019, "loss/angle": -0.108, "loss/offsets": -0.261, "loss/anchor": -0.186, "loss/anchor_offset": -0.055}, "grasps_per_frame": [478, 471, 470, 476], "no_gradient": [], "unchanged": [], "score_median": [0.2135, 0.213, 0.2173, 0.2203], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__tv-efficientnetv2-s.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=tv-efficientnetv2-s -o family-slot__HGGD__image_encoder__tv-efficientnetv2-s.yaml", "config_hash": "7ddb019389e01b85", "run": "2026-10-16@1c8fd45", "seconds": 197.3},
  {"id": "family-slot/HGGD/image_encoder/tv-mobilenetv3-large", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=tv-mobilenetv3-large", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.39x"], "terms": {"loss/heatmap": [1.593, 1.405, 1.134], "loss/angle": [0.8125, 0.6582, 1.234], "loss/offsets": [0.0851, 0.2157, 0.395], "loss/anchor": [1.102, 0.7677, 1.436], "loss/anchor_offset": [0.2285, 0.1935, 1.181]}, "rise": {"loss/heatmap": -0.004, "loss/angle": -0.07, "loss/offsets": -0.264, "loss/anchor": -0.104, "loss/anchor_offset": -0.073}, "grasps_per_frame": [480, 475, 469, 480], "no_gradient": [], "unchanged": [], "score_median": [0.1468, 0.1462, 0.1466, 0.1468], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__tv-mobilenetv3-large.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=tv-mobilenetv3-large -o family-slot__HGGD__image_encoder__tv-mobilenetv3-large.yaml", "config_hash": "58df2176dcbe97e8", "run": "2026-10-16@1c8fd45", "seconds": 190.9},
  {"id": "family-slot/HGGD/image_encoder/tv-regnet-y-800mf", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=tv-regnet-y-800mf", "level1": "runs", "outcome": "on a par", "reasons": [], "notes": ["lower than the reference: loss/offsets 0.51x"], "terms": {"loss/heatmap": [1.449, 1.405, 1.031], "loss/angle": [0.7216, 0.6582, 1.096], "loss/offsets": [0.1109, 0.2157, 0.514], "loss/anchor": [0.887, 0.7677, 1.156], "loss/anchor_offset": [0.2102, 0.1935, 1.086]}, "rise": {"loss/heatmap": -0.023, "loss/angle": -0.113, "loss/offsets": -0.116, "loss/anchor": -0.191, "loss/anchor_offset": -0.031}, "grasps_per_frame": [480, 480, 480, 470], "no_gradient": [], "unchanged": [], "score_median": [0.1897, 0.1903, 0.1913, 0.1925], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__tv-regnet-y-800mf.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=tv-regnet-y-800mf -o family-slot__HGGD__image_encoder__tv-regnet-y-800mf.yaml", "config_hash": "e05dd9d50f3ff9b7", "run": "2026-10-16@1c8fd45", "seconds": 187.4},
  {"id": "family-slot/HGGD/image_encoder/tv-resnet34", "kind": "image-encoder", "method": "HGGD", "option": "image_encoder=tv-resnet34", "level1": "runs", "outcome": "on a par", "reasons": [], "terms": {"loss/heatmap": [1.542, 1.405, 1.098], "loss/angle": [0.7881, 0.6582, 1.197], "loss/offsets": [0.1449, 0.2157, 0.672], "loss/anchor": [0.9163, 0.7677, 1.194], "loss/anchor_offset": [0.1908, 0.1935, 0.986]}, "rise": {"loss/heatmap": -0.097, "loss/angle": -0.111, "loss/offsets": -0.247, "loss/anchor": -0.05, "loss/anchor_offset": -0.126}, "grasps_per_frame": [384, 384, 384, 389], "no_gradient": [], "unchanged": [], "score_median": [0.1873, 0.1867, 0.1882, 0.1911], "checked": [16, 2], "schedule": "constant", "rate": 0.01, "probe": "grasppanda probe family-slot__HGGD__image_encoder__tv-resnet34.yaml --iters 250 --frames 8 --predict-frames 4 --schedule constant", "compose": "grasppanda compose hggd/hggd_r34w8_g1b-realsense_15e --set image_encoder=tv-resnet34 -o family-slot__HGGD__image_encoder__tv-resnet34.yaml", "config_hash": "7d71bd1b839f7824", "run": "2026-10-16@1c8fd45", "seconds": 183.0}
 ]
}