Mihajlo04/aic-port-insertion-eval

AIC Port Insertion — curated eval results (bachelor's thesis, ETF 2026)

The complete outputs/eval/ from the working machine: per-episode metrics (metrics.csv), summary statistics (summary.txt), analysis (analysis/), and mp4 recordings (third-person _overview + a _cams strip of the three policy cameras) for every run in the thesis.

The metric everywhere is: d_min = closest approach of the connector tip to the port seat (tip→seat); success threshold 3 mm; N=50 episodes per run. Checkpoints that were evaluated: https://huggingface.co/Mihajlo04/aic-port-insertion-policies

Folder	What it is
eval/DP_full/, eval/ACT_full/	Canonical full-policy runs (30290 ep., seed 0)
eval/DP_1000ep/, eval/ACT_1000/, eval/DP_10000/, eval/ACT_10000/	Data-scaling points
eval/multiseed/ms_{act,dp}_s{1,2}	Repeated evals of the full policies, seeds 1 and 2
eval/aux_eksperimenti/	Controls: ACT-full with a bare tip; ACT-full checkpoint 420k
eval/demo_dp_success/	The successful DP episode (source of https://youtu.be/SS5MC-dcSX4)

Scripts that turn this into the thesis figures and statistics: scripts/thesis/ in https://github.com/etf-robotics/etf_robotics_aic (they expect this content at etf_robotics_aic/outputs/eval/).