results: close feedforward PickupLoc gate

11 files changed, 1504 insertions, 0 deletions

diff --git a/BABYAI_SHARED_FEEDBACK.md b/BABYAI_SHARED_FEEDBACK.md
index e214ead..9443253 100644
--- a/BABYAI_SHARED_FEEDBACK.md
+++ b/BABYAI_SHARED_FEEDBACK.md
@@ -168,3 +168,19 @@ If no candidate is eligible, raw and SDIL are not run on this architecture;
 the next method change must supply task memory rather than tune shared-feedback
 strength.  If P0 passes, the chosen configuration enters the same 40-epoch,
 three-seed BP/clean-KP/raw/SDIL comparison as B1.
+
+## P0 outcome
+
+All eight runs were finite, but no feedforward candidate passed.  The best BP
+rollout success was `63.6%` (four layers, learning rate `0.03`) and the best
+clean-KP success was `52.2%` at the same setting, below the frozen `70%` and
+`60%` thresholds.  Their expert-action accuracies were `84.81%` and `83.84%`.
+Removing the mission reduced the best BP policy to `11.6%` success, confirming
+that this task depends on the language signal.  Raw and SDIL were not run.
+
+The next clean-only feasibility stage keeps the best P0 depth and learning rate
+and adds a fixed basal history of observations and previous actions.  It tests
+history lengths four and eight for 25 epochs, using only BP and clean KP.  The
+same `70%` BP, `60%` clean-KP, and 20-point BP mission-lesion thresholds apply;
+ties favor the shorter history.  This changes the missing state information,
+not the shared-feedback signal or its strength.
diff --git a/experiments/analyze_babyai_pickup_p0.py b/experiments/analyze_babyai_pickup_p0.py
new file mode 100644
index 0000000..3b432ed
--- /dev/null
+++ b/experiments/analyze_babyai_pickup_p0.py
@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+"""Apply the frozen PickupLoc clean-feasibility gate."""
+
+import argparse
+import json
+from pathlib import Path
+
+
+ROOT = Path(__file__).resolve().parents[1]
+DEFAULT_RESULTS = ROOT / "results" / "babyai_shared" / "pickup_p0"
+DEFAULT_OUT = ROOT / "results" / "babyai_shared" / "pickup_p0_analysis.json"
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--results", type=Path, default=DEFAULT_RESULTS)
+    parser.add_argument("--out", type=Path, default=DEFAULT_OUT)
+    args = parser.parse_args()
+    candidates = []
+    for depth in (2, 4):
+        for learning_rate in (0.01, 0.03):
+            records = {}
+            sources = []
+            for condition in ("bp", "clean_kp"):
+                path = args.results / (
+                    f"d{depth}_lr{learning_rate}_{condition}.json")
+                with open(path, encoding="utf-8") as handle:
+                    records[condition] = json.load(handle)
+                sources.append(str(path.relative_to(ROOT)))
+            bp, kp = records["bp"], records["clean_kp"]
+            bp_success = 100.0 * bp["rollout"]["success"]
+            kp_success = 100.0 * kp["rollout"]["success"]
+            lesion_success = 100.0 * bp["mission_lesion_rollout"]["success"]
+            checks = {
+                "both_finite": bool(bp["finite"] and kp["finite"]),
+                "bp_success_at_least_70": bp_success >= 70.0,
+                "clean_kp_success_at_least_60": kp_success >= 60.0,
+                "bp_mission_lesion_drop_at_least_20": (
+                    bp_success - lesion_success >= 20.0),
+            }
+            candidates.append({
+                "hidden_layers": depth,
+                "learning_rate": learning_rate,
+                "bp_rollout_success_percent": bp_success,
+                "clean_kp_rollout_success_percent": kp_success,
+                "bp_mission_lesion_success_percent": lesion_success,
+                "bp_mission_lesion_drop_points": bp_success - lesion_success,
+                "bp_action_accuracy_percent": (
+                    100.0 * bp["validation"]["accuracy"]),
+                "clean_kp_action_accuracy_percent": (
+                    100.0 * kp["validation"]["accuracy"]),
+                "eligible": all(checks.values()),
+                "checks": checks,
+                "source_files": sources,
+            })
+    eligible = [row for row in candidates if row["eligible"]]
+    selected = max(eligible, key=lambda row: (
+        row["clean_kp_rollout_success_percent"],
+        row["clean_kp_action_accuracy_percent"],
+        -row["hidden_layers"], -row["learning_rate"])) if eligible else None
+    best_clean = max(candidates, key=lambda row: (
+        row["clean_kp_rollout_success_percent"],
+        row["clean_kp_action_accuracy_percent"]))
+    report = {
+        "stage": "babyai_pickup_p0_clean_feasibility",
+        "gate": "pass" if selected is not None else "fail",
+        "candidates": candidates,
+        "selected": selected,
+        "best_clean_candidate_for_diagnosis": best_clean,
+        "raw_or_sdil_results_run_or_read": False,
+        "test_split_generated_or_read": False,
+        "decision": (
+            "Add task memory and repeat a clean-only gate; do not run raw or "
+            "SDIL on the present feedforward policy."
+            if selected is None else "Open the frozen shared-feedback endpoint."),
+    }
+    args.out.parent.mkdir(parents=True, exist_ok=True)
+    with open(args.out, "w", encoding="utf-8") as handle:
+        json.dump(report, handle, indent=2, sort_keys=True)
+        handle.write("\n")
+    print(json.dumps(report, indent=2, sort_keys=True))
+
+
+if __name__ == "__main__":
+    main()
diff --git a/results/babyai_shared/pickup_p0/d2_lr0.01_bp.json b/results/babyai_shared/pickup_p0/d2_lr0.01_bp.json
new file mode 100644
index 0000000..c7f82a4
--- /dev/null
+++ b/results/babyai_shared/pickup_p0/d2_lr0.01_bp.json
@@ -0,0 +1,161 @@
+{
+  "condition": "bp",
+  "config": {
+    "action_dim": 7,
+    "context_gain": 1.0,
+    "hidden_layers": 2,
+    "input_dim": 984,
+    "learning_rate": 0.01,
+    "mission_dim": 23,
+    "momentum": 0.9,
+    "reciprocal_learning_rate": 0.01,
+    "weight_decay": 0.0001,
+    "width": 256
+  },
+  "data": {
+    "color_cardinality": 6,
+    "elapsed_seconds": 81.82925486564636,
+    "env_id": "BabyAI-PickupLoc-v0",
+    "minigrid_version": "3.1.0",
+    "object_cardinality": 11,
+    "protocol": "babyai_shared_feedback_b0",
+    "rollout_episodes": 500,
+    "rollout_seed_start": 200000,
+    "state_cardinality": 3,
+    "train_episodes": 20000,
+    "train_steps": 121467,
+    "validation_episodes": 2000,
+    "validation_steps": 12347,
+    "vocabulary": [
+      "<unk>",
+      "a",
+      "ball",
+      "behind",
+      "blue",
+      "box",
+      "front",
+      "green",
+      "grey",
+      "in",
+      "key",
+      "left",
+      "of",
+      "on",
+      "pick",
+      "purple",
+      "red",
+      "right",
+      "the",
+      "up",
+      "yellow",
+      "you",
+      "your"
+    ]
+  },
+  "epoch_history": [
+    {
+      "epoch": 1,
+      "train_loss": 0.7629744564859491
+    },
+    {
+      "epoch": 2,
+      "train_loss": 0.6666856745669716
+    },
+    {
+      "epoch": 3,
+      "train_loss": 0.6544169373261302
+    },
+    {
+      "epoch": 4,
+      "train_loss": 0.647978503955038
+    },
+    {
+      "epoch": 5,
+      "train_loss": 0.6390260830678438
+    },
+    {
+      "epoch": 6,
+      "train_loss": 0.6251882618351986
+    },
+    {
+      "epoch": 7,
+      "train_loss": 0.6098556981588665
+    },
+    {
+      "epoch": 8,
+      "train_loss": 0.5832556275317543
+    },
+    {
+      "epoch": 9,
+      "train_loss": 0.5497130578442624
+    },
+    {
+      "epoch": 10,
+      "train_loss": 0.5191664356934397
+    },
+    {
+      "epoch": 11,
+      "train_loss": 0.4923379595656144
+    },
+    {
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+      "train_loss": 0.47387167209073117
+    },
+    {
+      "epoch": 13,
+      "train_loss": 0.4634372958384062
+    },
+    {
+      "epoch": 14,
+      "train_loss": 0.4495846606555738
+    },
+    {
+      "epoch": 15,
+      "train_loss": 0.4385373055934906
+    }
+  ],
+  "epochs_completed": 15,
+  "finite": true,
+  "first_nonfinite_epoch": null,
+  "mission_lesion_rollout": {
+    "episodes": 500,
+    "mean_length": 55.368,
+    "mean_return": 0.13698749999999998,
+    "success": 0.156
+  },
+  "mission_lesion_validation": {
+    "accuracy": 0.6326233093059043,
+    "loss": 0.8153243552646898
+  },
+  "predictor": [],
+  "provenance": {
+    "cuda_device_name": "NVIDIA GeForce GTX 1080",
+    "cuda_peak_allocated_bytes": 41183232,
+    "cuda_visible_devices": "0",
+    "device": "cuda:0",
+    "git_commit": "17a4224239458781155acb91cfb5f9ea71844663",
+    "git_dirty_tracked": false,
+    "minigrid_version": "3.1.0",
+    "torch_version": "2.3.1+cu118"
+  },
+  "rollout": {
+    "episodes": 500,
+    "mean_length": 35.04,
+    "mean_return": 0.45705000000000007,
+    "success": 0.498
+  },
+  "stage": "babyai_shared_b0",
+  "training": {
+    "batch_size": 256,
+    "model_seed": 4101,
+    "neutral_examples_per_epoch": 0,
+    "parameter_count_including_reciprocal_context_predictor": 399879,
+    "shuffle_seed": 4101,
+    "total_wall_seconds_including_rollouts": 129.50609016418457,
+    "training_wall_seconds": 113.70090627670288
+  },
+  "validation": {
+    "accuracy": 0.819875273345752,
+    "loss": 0.45946065495349603
+  }
+}
diff --git a/results/babyai_shared/pickup_p0/d2_lr0.01_clean_kp.json b/results/babyai_shared/pickup_p0/d2_lr0.01_clean_kp.json
new file mode 100644
index 0000000..d0b4bfb
--- /dev/null
+++ b/results/babyai_shared/pickup_p0/d2_lr0.01_clean_kp.json
@@ -0,0 +1,161 @@
+{
+  "condition": "clean_kp",
+  "config": {
+    "action_dim": 7,
+    "context_gain": 1.0,
+    "hidden_layers": 2,
+    "input_dim": 984,
+    "learning_rate": 0.01,
+    "mission_dim": 23,
+    "momentum": 0.9,
+    "reciprocal_learning_rate": 0.01,
+    "weight_decay": 0.0001,
+    "width": 256
+  },
+  "data": {
+    "color_cardinality": 6,
+    "elapsed_seconds": 81.82925486564636,
+    "env_id": "BabyAI-PickupLoc-v0",
+    "minigrid_version": "3.1.0",
+    "object_cardinality": 11,
+    "protocol": "babyai_shared_feedback_b0",
+    "rollout_episodes": 500,
+    "rollout_seed_start": 200000,
+    "state_cardinality": 3,
+    "train_episodes": 20000,
+    "train_steps": 121467,
+    "validation_episodes": 2000,
+    "validation_steps": 12347,
+    "vocabulary": [
+      "<unk>",
+      "a",
+      "ball",
+      "behind",
+      "blue",
+      "box",
+      "front",
+      "green",
+      "grey",
+      "in",
+      "key",
+      "left",
+      "of",
+      "on",
+      "pick",
+      "purple",
+      "red",
+      "right",
+      "the",
+      "up",
+      "yellow",
+      "you",
+      "your"
+    ]
+  },
+  "epoch_history": [
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+    },
+    {
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+      "train_loss": 0.6437298444697731
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+      "train_loss": 0.6332571965769718
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+      "train_loss": 0.6275139563962033
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+      "train_loss": 0.6194480020121524
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+    {
+      "epoch": 15,
+      "train_loss": 0.48156642286401047
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+  ],
+  "epochs_completed": 15,
+  "finite": true,
+  "first_nonfinite_epoch": null,
+  "mission_lesion_rollout": {
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+    "mean_length": 57.592,
+    "mean_return": 0.10091249999999999,
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+  },
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+  "provenance": {
+    "cuda_device_name": "NVIDIA GeForce GTX 1080",
+    "cuda_peak_allocated_bytes": 41183232,
+    "cuda_visible_devices": "1",
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+    "git_commit": "17a4224239458781155acb91cfb5f9ea71844663",
+    "git_dirty_tracked": false,
+    "minigrid_version": "3.1.0",
+    "torch_version": "2.3.1+cu118"
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+  },
+  "stage": "babyai_shared_b0",
+  "training": {
+    "batch_size": 256,
+    "model_seed": 4101,
+    "neutral_examples_per_epoch": 0,
+    "parameter_count_including_reciprocal_context_predictor": 399879,
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+    "total_wall_seconds_including_rollouts": 130.66909670829773,
+    "training_wall_seconds": 114.85607838630676
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+  "validation": {
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+    "loss": 0.49055810259297433
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+}
diff --git a/results/babyai_shared/pickup_p0/d2_lr0.03_bp.json b/results/babyai_shared/pickup_p0/d2_lr0.03_bp.json
new file mode 100644
index 0000000..f9f04ae
--- /dev/null
+++ b/results/babyai_shared/pickup_p0/d2_lr0.03_bp.json
@@ -0,0 +1,161 @@
+{
+  "condition": "bp",
+  "config": {
+    "action_dim": 7,
+    "context_gain": 1.0,
+    "hidden_layers": 2,
+    "input_dim": 984,
+    "learning_rate": 0.03,
+    "mission_dim": 23,
+    "momentum": 0.9,
+    "reciprocal_learning_rate": 0.03,
+    "weight_decay": 0.0001,
+    "width": 256
+  },
+  "data": {
+    "color_cardinality": 6,
+    "elapsed_seconds": 81.82925486564636,
+    "env_id": "BabyAI-PickupLoc-v0",
+    "minigrid_version": "3.1.0",
+    "object_cardinality": 11,
+    "protocol": "babyai_shared_feedback_b0",
+    "rollout_episodes": 500,
+    "rollout_seed_start": 200000,
+    "state_cardinality": 3,
+    "train_episodes": 20000,
+    "train_steps": 121467,
+    "validation_episodes": 2000,
+    "validation_steps": 12347,
+    "vocabulary": [
+      "<unk>",
+      "a",
+      "ball",
+      "behind",
+      "blue",
+      "box",
+      "front",
+      "green",
+      "grey",
+      "in",
+      "key",
+      "left",
+      "of",
+      "on",
+      "pick",
+      "purple",
+      "red",
+      "right",
+      "the",
+      "up",
+      "yellow",
+      "you",
+      "your"
+    ]
+  },
+  "epoch_history": [
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+  "epochs_completed": 15,
+  "finite": true,
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+  "mission_lesion_rollout": {
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+    "mean_length": 56.53,
+    "mean_return": 0.118046875,
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+    "loss": 1.0549333398908103
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+  "provenance": {
+    "cuda_device_name": "NVIDIA GeForce GTX 1080",
+    "cuda_peak_allocated_bytes": 41183232,
+    "cuda_visible_devices": "2",
+    "device": "cuda:0",
+    "git_commit": "17a4224239458781155acb91cfb5f9ea71844663",
+    "git_dirty_tracked": false,
+    "minigrid_version": "3.1.0",
+    "torch_version": "2.3.1+cu118"
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+    "mean_return": 0.40698749999999995,
+    "success": 0.444
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+  "stage": "babyai_shared_b0",
+  "training": {
+    "batch_size": 256,
+    "model_seed": 4101,
+    "neutral_examples_per_epoch": 0,
+    "parameter_count_including_reciprocal_context_predictor": 399879,
+    "shuffle_seed": 4101,
+    "total_wall_seconds_including_rollouts": 130.98018527030945,
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+}
diff --git a/results/babyai_shared/pickup_p0/d2_lr0.03_clean_kp.json b/results/babyai_shared/pickup_p0/d2_lr0.03_clean_kp.json
new file mode 100644
index 0000000..202560b
--- /dev/null
+++ b/results/babyai_shared/pickup_p0/d2_lr0.03_clean_kp.json
@@ -0,0 +1,161 @@
+{
+  "condition": "clean_kp",
+  "config": {
+    "action_dim": 7,
+    "context_gain": 1.0,
+    "hidden_layers": 2,
+    "input_dim": 984,
+    "learning_rate": 0.03,
+    "mission_dim": 23,
+    "momentum": 0.9,
+    "reciprocal_learning_rate": 0.03,
+    "weight_decay": 0.0001,
+    "width": 256
+  },
+  "data": {
+    "color_cardinality": 6,
+    "elapsed_seconds": 81.82925486564636,
+    "env_id": "BabyAI-PickupLoc-v0",
+    "minigrid_version": "3.1.0",
+    "object_cardinality": 11,
+    "protocol": "babyai_shared_feedback_b0",
+    "rollout_episodes": 500,
+    "rollout_seed_start": 200000,
+    "state_cardinality": 3,
+    "train_episodes": 20000,
+    "train_steps": 121467,
+    "validation_episodes": 2000,
+    "validation_steps": 12347,
+    "vocabulary": [
+      "<unk>",
+      "a",
+      "ball",
+      "behind",
+      "blue",
+      "box",
+      "front",
+      "green",
+      "grey",
+      "in",
+      "key",
+      "left",
+      "of",
+      "on",
+      "pick",
+      "purple",
+      "red",
+      "right",
+      "the",
+      "up",
+      "yellow",
+      "you",
+      "your"
+    ]
+  },
+  "epoch_history": [
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+    {
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+}
diff --git a/results/babyai_shared/pickup_p0_analysis.json b/results/babyai_shared/pickup_p0_analysis.json
new file mode 100644
index 0000000..5c21b79
--- /dev/null
+++ b/results/babyai_shared/pickup_p0_analysis.json
@@ -0,0 +1,115 @@
+{
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+      "clean_kp_success_at_least_60": false
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+      "results/babyai_shared/pickup_p0/d4_lr0.03_clean_kp.json"
+    ]
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+        "results/babyai_shared/pickup_p0/d4_lr0.01_clean_kp.json"
+      ]
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+      ]
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+  "selected": null,
+  "stage": "babyai_pickup_p0_clean_feasibility",
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+}