{
  "tables": [
    {
      "label": "Socket peg insertion, 100-rollout performance and speed",
      "headers": [
        "run_name",
        "method_family",
        "horizon_or_steps",
        "avg_reward",
        "median_reward",
        "avg_max_reward",
        "max_reward",
        "nonzero_reward",
        "success_like",
        "avg_inference_fps",
        "avg_control_fps",
        "avg_inference_time_ms"
      ],
      "rows": [
        [
          "socket-insert-imf-attnres-ph32-exec16-emb384-l12-infer1-unfreeze-step50k-roll1x10-5880g01-20260506-195806",
          "iMF-AttnRes",
          "infer1, ph32, exec16, 50k",
          "1275.22",
          "1490.5",
          "3.12",
          "2250.0",
          "84/100",
          "0/100",
          "64.226",
          "5.863",
          "16.186"
        ],
        [
          "socket-insert-no-pretrain-ph16-emb384-l18-infer100-unfreeze-step150k-roll1x10-5090-20260506-193753",
          "Diffusion-style VLA",
          "infer100, ph16, 150k",
          "861.53",
          "668.0",
          "2.58",
          "2241.0",
          "97/100",
          "2/100",
          "2.956",
          "2.591",
          "338.291"
        ],
        [
          "socket-insert-no-pretrain-ph32-exec16-emb384-l18-infer100-unfreeze-step150k-roll1x10-5880g1-20260507-092227",
          "Diffusion-style VLA",
          "infer100, ph32, exec16, 150k",
          "1019.39",
          "804.0",
          "2.47",
          "2385.0",
          "92/100",
          "4/100",
          "2.516",
          "1.928",
          "397.912"
        ],
        [
          "socket-insert-imf-attnres-ph32-exec16-emb384-l12-infer2-drop005-unfreeze-step150k-roll1x10-5880g01-20260508-165022",
          "iMF-AttnRes",
          "infer2, ph32, exec16, 150k",
          "1472.62",
          "1825.0",
          "3.29",
          "2365.0",
          "83/100",
          "5/100",
          "71.579",
          "7.181",
          "14.409"
        ],
        [
          "socket-insert-imf-attnres-ph32-exec16-emb384-l12-infer3-drop005-unfreeze-step150k-roll1x10-5880g01-20260509-172423",
          "iMF-AttnRes",
          "infer3, ph32, exec16, 150k",
          "1513.56",
          "1901.5",
          "3.28",
          "2285.0",
          "83/100",
          "3/100",
          "67.891",
          "7.247",
          "15.122"
        ],
        [
          "act-socket-peg-224-20260508-170237",
          "ACT",
          "action chunking",
          "289.6",
          "13.0",
          "1.29",
          "2091.0",
          "55/100",
          "1/100",
          "10.5171",
          "2.2782",
          "100.2116"
        ],
        [
          "smolvla_socket_peg_bs80_100k_20260511_145727",
          "SmolVLA",
          "100k",
          "466.16",
          "106.0",
          "1.72",
          "4.0",
          "89/100",
          "0/100",
          "382.53",
          "16.84",
          "2.614"
        ]
      ]
    },
    {
      "label": "Object transfer / sim_transfer, 100-rollout performance and speed",
      "headers": [
        "run_name",
        "method_family",
        "horizon_or_steps",
        "avg_reward",
        "median_reward",
        "avg_max_reward",
        "max_reward",
        "nonzero_reward",
        "success_like",
        "avg_inference_fps",
        "avg_control_fps",
        "avg_inference_time_ms"
      ],
      "rows": [
        [
          "diffusion_policy_native_dit_ddpm_resnet_best",
          "Diffusion Policy native DiT + DDPM + ResNet",
          "best checkpoint",
          "319.2",
          "6.0",
          "1.68",
          "1416.0",
          "55/100",
          "29/100",
          "32.09",
          "16.70",
          "n/a"
        ],
        [
          "embed384_layer18_best_checkpoint",
          "Diffusion-style VLA",
          "emb384, layer18",
          "233.52",
          "0.0",
          "1.12",
          "1436.0",
          "39/100",
          "17/100",
          "1.859",
          "1.649",
          "n/a"
        ],
        [
          "resnet18-multitoken-imf-emb256-l16-ph16-ex08-roll10-l20g2-20260406-112815",
          "iMF multi-token ResNet18",
          "step34999, ph16, exec08",
          "260.66",
          "0.0",
          "1.12",
          "1422.0",
          "33/100",
          "23/100",
          "441.80",
          "13.37",
          "n/a"
        ],
        [
          "imf-p2-full-attnres-vision-ph16-ex08-emb384-l12-b40-lr1p25e4-ms50k-l20g3-20260405-002424",
          "iMF full AttnRes vision",
          "ph16, exec08, 50k",
          "228.42",
          "0.0",
          "0.94",
          "1482.0",
          "31/100",
          "16/100",
          "55.997",
          "4.301",
          "n/a"
        ],
        [
          "imf-p1-ph16-ex16-emb384-l12-ms50k-l20g0-20260404-131223",
          "iMF-AttnRes DiT only",
          "ph16, exec16, 50k",
          "240.64",
          "0.0",
          "1.02",
          "1428.0",
          "32/100",
          "19/100",
          "137.996",
          "4.523",
          "n/a"
        ],
        [
          "imf-p1-ph32-ex08-emb384-l12-ms50k-l20g1-20260404-131223",
          "iMF-AttnRes DiT only",
          "ph32, exec08, 50k",
          "163.28",
          "0.0",
          "0.76",
          "1566.0",
          "26/100",
          "12/100",
          "85.638",
          "4.317",
          "n/a"
        ],
        [
          "imf-p1-ph32-ex32-emb384-l12-ms50k-5090-20260404-13122",
          "iMF-AttnRes DiT only",
          "ph32, exec32, 50k",
          "260.72",
          "0.0",
          "1.18",
          "1342.0",
          "38/100",
          "21/100",
          "9.557",
          "3.299",
          "n/a"
        ],
        [
          "imf-p1-ph16-ex08-emb384-l12-ms50k-5880g1-20260404-131223",
          "iMF-AttnRes DiT only",
          "ph16, exec08, 50k",
          "229.56",
          "0.0",
          "1.18",
          "1564.0",
          "41/100",
          "18/100",
          "69.984",
          "8.053",
          "n/a"
        ],
        [
          "imf-p1-ph08-ex08-emb384-l12-ms50k-5880g0-20260404-131223",
          "iMF-AttnRes DiT only",
          "ph08, exec08, 50k",
          "237.02",
          "0.0",
          "1.32",
          "1400.0",
          "48/100",
          "18/100",
          "69.192",
          "8.173",
          "n/a"
        ],
        [
          "imf-p1-ph32-ex16-emb384-l12-ms50k-l20g2-20260404-131223",
          "iMF-AttnRes DiT only",
          "ph32, exec16, 50k",
          "49.88",
          "0.0",
          "0.32",
          "1284.0",
          "13/100",
          "4/100",
          "138.903",
          "4.482",
          "n/a"
        ],
        [
          "sim-transfer-imf-attnres-ph32-exec16-emb384-l12-infer1-unfreeze-step50k-roll5x5-20260403-14130",
          "iMF-AttnRes",
          "infer1, ph32, exec16, 50k",
          "526.22",
          "86.0",
          "2.14",
          "1460.0",
          "63/100",
          "44/100",
          "8.911",
          "3.193",
          "n/a"
        ]
      ]
    },
    {
      "label": "Derived comparisons used in the paper draft",
      "headers": [
        "comparison",
        "metric",
        "numerator_run",
        "denominator_run",
        "numerator_value",
        "denominator_value",
        "derived_ratio_or_delta"
      ],
      "rows": [
        [
          "socket best iMF vs ph16 diffusion baseline",
          "avg_reward ratio",
          "iMF infer3 150k",
          "diffusion ph16 infer100 150k",
          "1513.56",
          "861.53",
          "1.76x"
        ],
        [
          "socket best iMF vs ph32 diffusion baseline",
          "avg_reward ratio",
          "iMF infer3 150k",
          "diffusion ph32 infer100 150k",
          "1513.56",
          "1019.39",
          "1.48x"
        ],
        [
          "socket best iMF vs ACT",
          "avg_reward ratio",
          "iMF infer3 150k",
          "ACT",
          "1513.56",
          "289.6",
          "5.23x"
        ],
        [
          "socket best iMF vs SmolVLA",
          "avg_reward ratio",
          "iMF infer3 150k",
          "SmolVLA",
          "1513.56",
          "466.16",
          "3.25x"
        ],
        [
          "socket iMF infer2 vs ph16 diffusion baseline",
          "inference time reduction",
          "iMF infer2 150k",
          "diffusion ph16 infer100 150k",
          "14.409",
          "338.291",
          "23.48x lower latency"
        ],
        [
          "socket iMF infer3 vs ph16 diffusion baseline",
          "inference fps ratio",
          "iMF infer3 150k",
          "diffusion ph16 infer100 150k",
          "67.891",
          "2.956",
          "22.97x"
        ],
        [
          "socket iMF infer2 vs ph32 diffusion baseline",
          "inference fps ratio",
          "iMF infer2 150k",
          "diffusion ph32 infer100 150k",
          "71.579",
          "2.516",
          "28.45x"
        ],
        [
          "sim_transfer best iMF vs native diffusion policy",
          "avg_reward ratio",
          "sim-transfer iMF infer1",
          "native diffusion policy",
          "526.22",
          "319.2",
          "1.65x"
        ],
        [
          "sim_transfer best iMF vs native diffusion policy",
          "success_like delta",
          "sim-transfer iMF infer1",
          "native diffusion policy",
          "44",
          "29",
          "+15 episodes"
        ],
        [
          "sim_transfer ResNet18 multitoken iMF vs embed384 layer18 baseline",
          "inference fps ratio",
          "ResNet18 multitoken iMF",
          "embed384 layer18",
          "441.80",
          "1.859",
          "237.65x"
        ]
      ]
    }
  ]
}