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Promote reference-runs v1.0 backfill to main - #203
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Fills the TBD cells in all five bundled-task tables (IP, DIP, G1-Velocity-Flat, G1-Tracking-Flat, Franka-Pick-And-Place) with the converged v1.0 reference numbers from a full 3-seed sweep: * Cartpoles + Franka collected on a single NVIDIA H200 (cartpoles: parallel=3 on GPU 0; Franka: one seed per GPU across GPUs 0-2). QD_GRAPH=0 enforced per the Hopper note already in the doc. * G1-Velocity-Flat + G1-Tracking-Flat collected on a 4x RTX 4090 host. Vel ran one seed per GPU on GPUs 0-2 with Track seed 1 sharing the host on GPU 3 (Phase A); Track seeds 2/3 ran on GPUs 0/1 once Vel finished (Phase B). Replaces the "Status: v1.0 sanity smoke, full sweep pending" admonition with a hardware/driver/concurrency footer that mirrors the doc's own warning: the G1 numbers below are the concurrent-run wall, not a solo-run figure (rewards are deterministic and unaffected, but wall-clock is ~3-6x longer than a solo run per rsl_rl's Time elapsed counter in train.log). Highlights vs v0.4.7: * G1-Velocity-Flat is meaningfully tighter across seeds (112.04 / 112.87 / 113.16 vs v0.4.7's 112.42 / 93.42 / 92.03 -- v0.4.7 had two seeds drop ~17% below seed 1, v1.0 lands all three in the same band). * G1-Tracking-Flat matches v0.4.7 within noise (138.44 / 137.98 / 138.06 vs 137.80 / 138.05 / 138.12). * Franka mean success_rate slightly higher and tighter (0.983 +/- 0.012 vs 0.963 +/- 0.052) -- no outlier seed.
Backfill reference-runs docs with v1.0 numbers
KraHsu
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Jun 5, 2026
Promote reference-runs v1.0 backfill to main
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Summary
Promotes the reference-runs doc backfill (#202) from
dev/docs-reference-numberstomain. All five bundled tasks now have their v1.0 cells filled from the actual 3-seed sweep (H200 for cartpoles + Franka, 4× RTX 4090 for G1).See #202 for the per-seed numbers and v0.4.7 comparison.
Test plan
--strictclean on en + zh