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report.html
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| 1 |
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<!doctype html><html><head><meta charset=utf-8><meta name=viewport content="width=device-width,initial-scale=1">
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| 2 |
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<title>SO-101 Policy Arena</title>
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| 3 |
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<meta name="claude:viewport-fit-sides" content="cover">
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| 4 |
+
<link rel="preconnect" href="https://fonts.googleapis.com">
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| 5 |
+
<link rel="stylesheet" href="https://fonts.googleapis.com/css2?family=IBM+Plex+Mono:wght@400;500&family=IBM+Plex+Sans:wght@400;500;600&display=swap">
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| 6 |
+
<style>
|
| 7 |
+
:root{
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| 8 |
+
--bg:#fcfcfb; --panel:#f4f4f1; --line:#e3e3de; --grid:#ececE8;
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| 9 |
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--fg:#1d1d1b; --fg2:#55554f; --muted:#86867e;
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| 10 |
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--m:#2a78d6; --p:#eb6834; --g:#1baf7a; --tie:#c9c9c2;
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| 11 |
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--o0:#e4e4df; --o1:#a9a9a1; --o2:#55554f;
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| 12 |
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--tip:#1d1d1b; --tipfg:#fcfcfb;
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| 13 |
+
}
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| 14 |
+
@media (prefers-color-scheme:dark){:root:not([data-theme="light"]){
|
| 15 |
+
--bg:#1a1a19; --panel:#232322; --line:#34342f; --grid:#2a2a28;
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| 16 |
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--fg:#ecece7; --fg2:#b4b4ac; --muted:#85857d;
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| 17 |
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--m:#3987e5; --p:#d95926; --g:#199e70; --tie:#4a4a45;
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| 18 |
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--o0:#33332f; --o1:#6b6b64; --o2:#b4b4ac;
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| 19 |
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--tip:#ecece7; --tipfg:#1a1a19; color-scheme:dark}}
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| 20 |
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:root[data-theme="dark"]{
|
| 21 |
+
--bg:#1a1a19; --panel:#232322; --line:#34342f; --grid:#2a2a28;
|
| 22 |
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--fg:#ecece7; --fg2:#b4b4ac; --muted:#85857d;
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| 23 |
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--m:#3987e5; --p:#d95926; --g:#199e70; --tie:#4a4a45;
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| 24 |
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--o0:#33332f; --o1:#6b6b64; --o2:#b4b4ac;
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| 25 |
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--tip:#ecece7; --tipfg:#1a1a19; color-scheme:dark}
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| 26 |
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*{box-sizing:border-box}
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| 27 |
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body{background:var(--bg);color:var(--fg);font:15px/1.55 "IBM Plex Sans",system-ui,-apple-system,sans-serif;
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| 28 |
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padding-left:max(16px,env(safe-area-inset-left,0px));padding-right:max(16px,env(safe-area-inset-right,0px));padding-block:40px 64px}
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| 29 |
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main{max-width:920px;margin:0 auto;display:grid;gap:48px}
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| 30 |
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.num,.mono{font-family:"IBM Plex Mono",ui-monospace,Menlo,monospace;font-variant-numeric:tabular-nums}
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| 31 |
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h1{font-size:34px;line-height:1.15;margin:0;font-weight:600;letter-spacing:-.01em;text-wrap:balance}
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| 32 |
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h2{font-size:19px;margin:0;font-weight:600;text-wrap:balance}
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| 33 |
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p{margin:0;max-width:66ch}
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| 34 |
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.eyebrow{font-size:12px;letter-spacing:.08em;text-transform:uppercase;color:var(--muted)}
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| 35 |
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.lede{color:var(--fg2);font-size:16.5px}
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| 36 |
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header{display:grid;gap:12px}
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| 37 |
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section{display:grid;gap:16px;min-width:0}
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| 38 |
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.sub{color:var(--fg2);font-size:14px}
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| 39 |
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.note{color:var(--muted);font-size:13px}
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| 40 |
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a{color:var(--fg);text-decoration-color:var(--muted);text-underline-offset:3px}
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| 41 |
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| 42 |
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.legend{display:flex;flex-wrap:wrap;gap:6px 18px;font-size:13px;color:var(--fg2)}
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| 43 |
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/* ranking */
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| 44 |
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.rank{display:grid;grid-template-columns:repeat(auto-fit,minmax(220px,1fr));gap:12px}
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| 45 |
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.card{background:var(--panel);border:1px solid var(--line);border-radius:10px;padding:16px 18px;display:grid;gap:10px;min-width:0}
|
| 46 |
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.card .top{display:flex;align-items:baseline;gap:10px}
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| 47 |
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.card .pos{font-size:13px;color:var(--muted)}
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| 48 |
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.card .name{font-weight:600;font-size:18px}
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| 49 |
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.card .ck{font-size:12px;color:var(--muted);overflow-wrap:anywhere}
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| 50 |
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.card .stats{display:flex;gap:18px}
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| 51 |
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.card .stats .num{white-space:nowrap}
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| 52 |
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.card .stats div{display:grid}
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| 53 |
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.card .big{font-size:24px;font-weight:500}
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| 54 |
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.card .lbl{font-size:11.5px;color:var(--muted);letter-spacing:.04em;text-transform:uppercase}
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| 55 |
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.card .bar{height:4px;border-radius:2px}
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| 56 |
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/* head to head */
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| 57 |
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.h2h{display:grid;gap:18px}
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| 58 |
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.pair{display:grid;gap:6px}
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| 59 |
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.pair .ends{display:flex;justify-content:space-between;font-size:13.5px;color:var(--fg2)}
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| 60 |
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.pair .ends b{color:var(--fg);font-weight:600}
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| 61 |
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.stack{display:flex;gap:2px;height:22px}
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| 62 |
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.stack > div{min-width:0;display:flex;align-items:center;justify-content:center;font-size:12px;color:var(--bg);font-family:"IBM Plex Mono",monospace;cursor:default}
|
| 63 |
+
.stack > div:first-child{border-radius:4px 0 0 4px}.stack > div:last-child{border-radius:0 4px 4px 0}
|
| 64 |
+
.stack .t{color:var(--fg2)}
|
| 65 |
+
/* grouped bars */
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| 66 |
+
.gb{display:grid;grid-template-columns:34px 1fr;gap:0 8px}
|
| 67 |
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.gb .axis{position:relative;height:220px}
|
| 68 |
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.gb .axis span{position:absolute;right:0;transform:translateY(50%);font-size:11px;color:var(--muted)}
|
| 69 |
+
.gb .plot{position:relative;height:220px;border-bottom:1px solid var(--line);display:flex;justify-content:space-around;gap:12px}
|
| 70 |
+
.gb .gl{position:absolute;left:0;right:0;border-top:1px solid var(--grid)}
|
| 71 |
+
.gb .grp{position:relative;display:flex;align-items:flex-end;gap:2px;height:100%;flex:0 1 150px}
|
| 72 |
+
.gb .b{flex:1;border-radius:4px 4px 0 0;position:relative;cursor:default;min-height:0}
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| 73 |
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.gb .b .v{position:absolute;bottom:100%;left:50%;transform:translateX(-50%);font-size:11.5px;color:var(--fg2);padding-bottom:3px;white-space:nowrap}
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| 74 |
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.gb .xl{grid-column:2;display:flex;justify-content:space-around;gap:12px;font-size:13px;color:var(--fg2);padding-top:6px}
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| 75 |
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.gb .xl span{flex:0 1 150px;text-align:center}
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| 76 |
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/* dot plot */
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| 77 |
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.dots{display:grid;grid-template-columns:minmax(110px,170px) 1fr;gap:0 14px;align-items:center}
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| 78 |
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.dots .lab{font-size:13.5px;color:var(--fg2);padding-block:9px;border-bottom:1px solid var(--grid)}
|
| 79 |
+
.dots .trk{position:relative;height:100%;min-height:38px;border-bottom:1px solid var(--grid)}
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| 80 |
+
.dots .trk::before{content:"";position:absolute;left:0;right:0;top:50%;border-top:1px dashed var(--line)}
|
| 81 |
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.dots .d{position:absolute;top:50%;width:13px;height:13px;border-radius:50%;transform:translate(-50%,-50%);box-shadow:0 0 0 2px var(--bg);cursor:default}
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| 82 |
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.dots .d::after{content:"";position:absolute;inset:-8px}
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| 83 |
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.dots .ax{grid-column:2;position:relative;height:20px;font-size:11px;color:var(--muted)}
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| 84 |
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.dots .ax span{position:absolute;transform:translateX(-50%);top:4px}
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| 85 |
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/* stage stacks */
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| 86 |
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.stages{display:grid;grid-template-columns:90px 1fr;gap:10px 14px;align-items:center;font-size:13.5px}
|
| 87 |
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.stages .stack{height:26px}
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| 88 |
+
.stages .stack > div{color:var(--fg)}
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| 89 |
+
.stages .stack .s2{color:var(--bg)}
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| 90 |
+
/* tables */
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| 91 |
+
.tw{overflow-x:auto;border:1px solid var(--line);border-radius:10px}
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| 92 |
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table{border-collapse:collapse;width:100%;font-size:13.5px}
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| 93 |
+
th,td{padding:7px 12px;text-align:left;border-bottom:1px solid var(--grid);white-space:nowrap}
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| 94 |
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th{font-weight:500;color:var(--muted);font-size:12px;letter-spacing:.04em;text-transform:uppercase;background:var(--panel);position:sticky;top:0}
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| 95 |
+
td.n,th.n{text-align:right;font-family:"IBM Plex Mono",monospace}
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| 96 |
+
tr:last-child td{border-bottom:none}
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| 97 |
+
.win{font-weight:600}
|
| 98 |
+
.filters{display:flex;flex-wrap:wrap;gap:10px;align-items:center;font-size:13px;color:var(--fg2)}
|
| 99 |
+
select{font:inherit;font-size:13px;color:var(--fg);background:var(--panel);border:1px solid var(--line);border-radius:6px;padding:5px 8px}
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| 100 |
+
.toggle{font:inherit;font-size:12.5px;color:var(--fg2);background:none;border:1px solid var(--line);border-radius:6px;padding:4px 10px;cursor:pointer;justify-self:start}
|
| 101 |
+
.head{display:flex;justify-content:space-between;align-items:baseline;gap:12px;flex-wrap:wrap}
|
| 102 |
+
ul.cav{margin:0;padding-left:20px;display:grid;gap:8px;max-width:70ch;color:var(--fg2)}
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| 103 |
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ul.cav b{color:var(--fg);font-weight:500}
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| 104 |
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.links{display:flex;flex-wrap:wrap;gap:8px 22px;font-size:14px}
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| 105 |
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#tip{position:fixed;pointer-events:none;background:var(--tip);color:var(--tipfg);font-size:12.5px;line-height:1.45;padding:7px 10px;border-radius:6px;max-width:260px;z-index:10;opacity:0;transition:opacity .08s}
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| 106 |
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#tip b{font-weight:600}
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| 107 |
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@media (max-width:520px){h1{font-size:27px}.gb .axis,.gb .plot{height:180px}.dots{grid-template-columns:104px 1fr}}
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| 108 |
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</style>
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| 109 |
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| 110 |
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<main>
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| 111 |
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<header>
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| 112 |
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<div class="eyebrow">SO-101 follower · blind pairwise eval · October 2026</div>
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| 113 |
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<h1>SO-101 Policy Arena</h1>
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| 114 |
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<p class="lede">Three SO-100/101 checkpoints, compared two at a time on one real arm: <span class="num" id="nCmp"></span> head-to-head comparisons across 18 scenes (6 table setups × 3 lighting levels) and 10 manipulation tasks. Each rollout is scored with partial credit for the furthest stage it reached.</p>
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| 115 |
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</header>
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| 116 |
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| 117 |
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<section>
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| 118 |
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<div class="head"><h2>Ranking</h2><span class="note">Bradley-Terry strength, ties count as ½ win, geometric mean = 1</span></div>
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| 119 |
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<div class="rank" id="rank"></div>
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| 120 |
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</section>
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| 121 |
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| 122 |
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<section>
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| 123 |
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<div class="head"><h2>Head to head</h2><span class="note">30 comparisons per pair</span></div>
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| 124 |
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<p class="sub">MolmoAct2 and π0.5 tie on most tasks, usually because neither got past reaching. Both beat GR00T clearly.</p>
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| 125 |
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<div class="h2h" id="h2h"></div>
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| 126 |
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</section>
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| 127 |
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| 128 |
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<section>
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| 129 |
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<div class="head"><h2>Mean score by lighting</h2><button class="toggle" data-tbl="tLight">Show table</button></div>
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| 130 |
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<div class="legend" id="lg1"></div>
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| 131 |
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<div class="gb" id="light"></div>
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+
<div class="tw" id="tLight" hidden></div>
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+
<p class="note">Each bar is the mean of 20 rollouts. In dim light the wrist camera is close to black.</p>
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| 134 |
+
</section>
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| 135 |
+
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+
<section>
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| 137 |
+
<div class="head"><h2>Mean score by task</h2><button class="toggle" data-tbl="tTask">Show table</button></div>
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+
<div class="legend" id="lg2"></div>
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| 139 |
+
<div class="dots" id="task"></div>
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| 140 |
+
<div class="tw" id="tTask" hidden></div>
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| 141 |
+
<p class="note">Each dot is the mean of 6 rollouts. Tasks are sorted by the best model's score.</p>
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| 142 |
+
</section>
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| 143 |
+
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| 144 |
+
<section>
|
| 145 |
+
<div class="head"><h2>How far rollouts got</h2></div>
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+
<p class="sub">Most points come from reaching the object. Grasps were rare, and no model completed a task.</p>
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| 147 |
+
<div class="legend"><span><i class="sw" style="background:var(--o0)"></i>nothing</span><span><i class="sw" style="background:var(--o1)"></i>reached the object</span><span><i class="sw" style="background:var(--o2)"></i>grasp or later</span></div>
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| 148 |
+
<div class="stages" id="stages"></div>
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| 149 |
+
</section>
|
| 150 |
+
|
| 151 |
+
<section>
|
| 152 |
+
<div class="head"><h2>Mean score by setup</h2></div>
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+
<p class="sub">Each setup was run with only one pair, so a setup's numbers only compare those two models.</p>
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| 154 |
+
<div class="tw" id="tSetup"></div>
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| 155 |
+
</section>
|
| 156 |
+
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| 157 |
+
<section>
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| 158 |
+
<div class="head"><h2>All comparisons</h2><span class="note" id="cnt"></span></div>
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| 159 |
+
<div class="filters">
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| 160 |
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<label>Pair <select id="fPair"><option value="">all</option></select></label>
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| 161 |
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<label>Lighting <select id="fLight"><option value="">all</option></select></label>
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| 162 |
+
<label>Task <select id="fTask"><option value="">all</option></select></label>
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| 163 |
+
</div>
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| 164 |
+
<div class="tw" style="max-height:460px;overflow:auto"><table id="all"></table></div>
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| 165 |
+
</section>
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| 166 |
+
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| 167 |
+
<section>
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| 168 |
+
<h2>Protocol and caveats</h2>
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+
<ul class="cav">
|
| 170 |
+
<li><b>Blind A/B.</b> Both models in a pair ran back-to-back from the same object placement. The operator scored each rollout without knowing the model, and the models were revealed after each scene.</li>
|
| 171 |
+
<li><b>Same execution for all.</b> All models start from the same ready pose. Each predicted action chunk runs open-loop at 30 Hz before the next query, as in the MolmoAct2 paper. Per-tick joint moves are capped at 15° for safety. A rollout lasts at most 60 s.</li>
|
| 172 |
+
<li><b>Native inputs.</b> Each model gets the front RealSense and the wrist camera at its own input size:
|
| 173 |
+
<ul>
|
| 174 |
+
<li>MolmoAct2: 378², 30-step chunks</li>
|
| 175 |
+
<li>π0.5: 224² letterbox, 50-step chunks</li>
|
| 176 |
+
<li>GR00T: 256², 40-step chunks</li>
|
| 177 |
+
</ul>
|
| 178 |
+
Models ran on a remote A6000, with a median round-trip of about 750 ms (about 360 ms for GR00T).</li>
|
| 179 |
+
<li><b>GR00T.</b> The processor revision the checkpoint pins is not public, so we used upstream LeRobot. On its own training data GR00T's base turns in the right direction, but it barely beats holding still (mean error 5.65° vs 1.85° for MolmoAct2 on <span class="mono">battery_bin_center</span>). The checkpoint authors confirmed the setup.</li>
|
| 180 |
+
<li><b>Setup is confounded with pair.</b> Lighting and task breakdowns are balanced across pairs. Setup breakdowns are not.</li>
|
| 181 |
+
<li><b>Two early scenes were relabeled.</b> "Normal table" and "white mat" were recorded before the lighting axis existed and were relabeled "very bright", which matches the conditions they were recorded in.</li>
|
| 182 |
+
<li><b>Scale.</b> One arm, one operator, one room.</li>
|
| 183 |
+
</ul>
|
| 184 |
+
</section>
|
| 185 |
+
|
| 186 |
+
<section>
|
| 187 |
+
<h2>Data</h2>
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| 188 |
+
<div class="links">
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| 189 |
+
<a href="https://huggingface.co/datasets/ishneet/so101-pairwise-eval" target="_blank" rel="noopener">ishneet/so101-pairwise-eval</a>
|
| 190 |
+
<span class="note">merged LeRobot v3.0 dataset (180 episodes, front + wrist video), results.jsonl, and a third-person clip of every rollout</span>
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| 191 |
+
</div>
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| 192 |
+
</section>
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</main>
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<div id="tip"></div>
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<script>
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|
| 198 |
+
const STAGES = {"1": [25, 50, 75, 100], "2": [20, 40, 60, 80, 100], "3": [25, 50, 75, 100], "4": [25, 50, 75, 100], "5": [25, 50, 75, 100], "6": [20, 40, 60, 80, 100], "7": [25, 50, 75, 100], "8": [20, 40, 60, 80, 100], "9": [33, 66, 100], "10": [33, 66, 100]};
|
| 199 |
+
const M = {molmoact2:{n:"MolmoAct2",c:"var(--m)",ck:"allenai/MolmoAct2-SO100_101"},
|
| 200 |
+
pi05:{n:"π0.5",c:"var(--p)",ck:"hqfang/pi05-so100_101"},
|
| 201 |
+
groot:{n:"GR00T",c:"var(--g)",ck:"hqfang/groot-so100_101"}};
|
| 202 |
+
const ORDER = ["molmoact2","pi05","groot"];
|
| 203 |
+
const LIGHTS = ["very bright","bright","dim"];
|
| 204 |
+
const $ = s => document.querySelector(s);
|
| 205 |
+
const fmt = v => v.toFixed(1);
|
| 206 |
+
const mean = a => a.length ? a.reduce((x,y)=>x+y,0)/a.length : NaN;
|
| 207 |
+
|
| 208 |
+
// one record per rollout
|
| 209 |
+
const RUNS = ROWS.flatMap(r => [{...r, m:r.A, s:r.sa}, {...r, m:r.B, s:r.sb}]);
|
| 210 |
+
$("#nCmp").textContent = ROWS.length;
|
| 211 |
+
|
| 212 |
+
// Bradley-Terry with ties as half wins (MM iterations)
|
| 213 |
+
function bt(){
|
| 214 |
+
const w = {}, n = {}; ORDER.forEach(a=>{w[a]=0; n[a]={}; ORDER.forEach(b=>n[a][b]=0)});
|
| 215 |
+
ROWS.forEach(r=>{ const a=r.A,b=r.B;
|
| 216 |
+
n[a][b]++; n[b][a]++;
|
| 217 |
+
if(r.pref==="tie"){w[a]+=.5; w[b]+=.5} else w[r.pref]+=1; });
|
| 218 |
+
let p = Object.fromEntries(ORDER.map(k=>[k,1]));
|
| 219 |
+
for(let it=0;it<2000;it++){
|
| 220 |
+
const q = {};
|
| 221 |
+
ORDER.forEach(i=>{ let d=0; ORDER.forEach(j=>{ if(i!==j && n[i][j]) d+=n[i][j]/(p[i]+p[j]) }); q[i]=w[i]/d; });
|
| 222 |
+
const g = Math.exp(mean(ORDER.map(k=>Math.log(q[k])))); ORDER.forEach(k=>q[k]/=g); p=q;
|
| 223 |
+
}
|
| 224 |
+
return p;
|
| 225 |
+
}
|
| 226 |
+
const BT = bt();
|
| 227 |
+
|
| 228 |
+
// tooltip
|
| 229 |
+
const tip = $("#tip");
|
| 230 |
+
function hover(el, html){
|
| 231 |
+
el.addEventListener("pointerenter", ()=>{tip.innerHTML=html; tip.style.opacity=1});
|
| 232 |
+
el.addEventListener("pointermove", e=>{
|
| 233 |
+
const x = Math.min(e.clientX+14, innerWidth-tip.offsetWidth-8), y = e.clientY+16+tip.offsetHeight>innerHeight ? e.clientY-tip.offsetHeight-10 : e.clientY+16;
|
| 234 |
+
tip.style.left=x+"px"; tip.style.top=y+"px"});
|
| 235 |
+
el.addEventListener("pointerleave", ()=>tip.style.opacity=0);
|
| 236 |
+
}
|
| 237 |
+
const legend = id => $(id).innerHTML = ORDER.map(k=>`<span><i class="sw" style="background:${M[k].c}"></i>${M[k].n}</span>`).join("");
|
| 238 |
+
legend("#lg1"); legend("#lg2");
|
| 239 |
+
|
| 240 |
+
// ranking cards
|
| 241 |
+
const ranked = [...ORDER].sort((a,b)=>BT[b]-BT[a]);
|
| 242 |
+
const maxBT = Math.max(...ranked.map(k=>BT[k]));
|
| 243 |
+
$("#rank").innerHTML = ranked.map((k,i)=>{
|
| 244 |
+
const mine = ROWS.filter(r=>r.A===k||r.B===k);
|
| 245 |
+
const W = mine.filter(r=>r.pref===k).length, T = mine.filter(r=>r.pref==="tie").length, L = mine.length-W-T;
|
| 246 |
+
return `<div class="card">
|
| 247 |
+
<div class="top"><span class="pos num">#${i+1}</span><span class="name">${M[k].n}</span></div>
|
| 248 |
+
<div class="ck mono">${M[k].ck}</div>
|
| 249 |
+
<div class="bar" style="width:${BT[k]/maxBT*100}%;background:${M[k].c}"></div>
|
| 250 |
+
<div class="stats">
|
| 251 |
+
<div><span class="big num">${BT[k].toFixed(2)}</span><span class="lbl">BT strength</span></div>
|
| 252 |
+
<div><span class="big num">${fmt(mean(RUNS.filter(r=>r.m===k).map(r=>r.s)))}</span><span class="lbl">mean score</span></div>
|
| 253 |
+
<div><span class="big num" style="font-size:17px;padding-top:5px">${W}–${L}–${T}</span><span class="lbl">W–L–T</span></div>
|
| 254 |
+
</div></div>`}).join("");
|
| 255 |
+
|
| 256 |
+
// head to head
|
| 257 |
+
const PAIRS = [["molmoact2","groot"],["molmoact2","pi05"],["pi05","groot"]];
|
| 258 |
+
PAIRS.forEach(([a,b])=>{
|
| 259 |
+
const rs = ROWS.filter(r=>(r.A===a&&r.B===b)||(r.A===b&&r.B===a));
|
| 260 |
+
const wa = rs.filter(r=>r.pref===a).length, wb = rs.filter(r=>r.pref===b).length, t = rs.length-wa-wb;
|
| 261 |
+
const div = document.createElement("div"); div.className="pair";
|
| 262 |
+
div.innerHTML = `<div class="ends"><span><b>${M[a].n}</b> <span class="num">${wa}</span> ${wa===1?"win":"wins"}</span><span class="num">${t} ties</span><span><span class="num">${wb}</span> ${wb===1?"win":"wins"} <b>${M[b].n}</b></span></div><div class="stack"></div>`;
|
| 263 |
+
const st = div.querySelector(".stack");
|
| 264 |
+
[[wa,M[a].c,`${M[a].n} preferred`,""],[t,"var(--tie)","Tie","t"],[wb,M[b].c,`${M[b].n} preferred`,""]].forEach(([v,c,l,cls])=>{
|
| 265 |
+
if(!v) return; const s=document.createElement("div"); s.style.flex=v; s.style.background=c; s.className=cls;
|
| 266 |
+
if(v>=2) s.textContent=v;
|
| 267 |
+
hover(s, `<b>${l}</b><br>${v} of ${rs.length} comparisons`); st.appendChild(s);});
|
| 268 |
+
$("#h2h").appendChild(div);
|
| 269 |
+
});
|
| 270 |
+
|
| 271 |
+
// lighting grouped bars
|
| 272 |
+
(function(){
|
| 273 |
+
const ymax = 30, ticks=[0,10,20,30];
|
| 274 |
+
const host = $("#light");
|
| 275 |
+
host.innerHTML = `<div class="axis">${ticks.map(t=>`<span style="bottom:${t/ymax*100}%">${t}</span>`).join("")}</div><div class="plot">${ticks.slice(1).map(t=>`<div class="gl" style="bottom:${t/ymax*100}%"></div>`).join("")}</div><div class="xl">${LIGHTS.map(l=>`<span>${l}</span>`).join("")}</div>`;
|
| 276 |
+
const plot = host.querySelector(".plot");
|
| 277 |
+
let tbl = `<table><tr><th>Lighting</th>${ORDER.map(k=>`<th class="n">${M[k].n}</th>`).join("")}</tr>`;
|
| 278 |
+
LIGHTS.forEach(l=>{
|
| 279 |
+
const g=document.createElement("div"); g.className="grp"; tbl+=`<tr><td>${l}</td>`;
|
| 280 |
+
ORDER.forEach(k=>{ const v=RUNS.filter(r=>r.m===k&&r.light===l).map(r=>r.s), m=mean(v);
|
| 281 |
+
const b=document.createElement("div"); b.className="b"; b.style.background=M[k].c; b.style.height=Math.max(m/ymax*100,.6)+"%";
|
| 282 |
+
b.innerHTML=`<span class="v num">${fmt(m)}</span>`;
|
| 283 |
+
hover(b, `<b>${M[k].n}</b> · ${l}<br>mean ${fmt(m)} over ${v.length} rollouts`); g.appendChild(b);
|
| 284 |
+
tbl+=`<td class="n">${fmt(m)}</td>`;});
|
| 285 |
+
plot.appendChild(g); tbl+="</tr>";});
|
| 286 |
+
$("#tLight").innerHTML = tbl+"</table>";
|
| 287 |
+
})();
|
| 288 |
+
|
| 289 |
+
// task dot plot
|
| 290 |
+
(function(){
|
| 291 |
+
const xmax = 60, host = $("#task");
|
| 292 |
+
const tasks = [...new Set(ROWS.map(r=>r.task))].map(t=>{
|
| 293 |
+
const v = Object.fromEntries(ORDER.map(k=>[k, RUNS.filter(r=>r.m===k&&r.task===t).map(r=>r.s)]));
|
| 294 |
+
return {t, v, best:Math.max(...ORDER.map(k=>mean(v[k])))};
|
| 295 |
+
}).sort((a,b)=>b.best-a.best);
|
| 296 |
+
let tbl = `<table><tr><th>Task</th>${ORDER.map(k=>`<th class="n">${M[k].n}</th>`).join("")}</tr>`;
|
| 297 |
+
tasks.forEach(({t,v})=>{
|
| 298 |
+
host.insertAdjacentHTML("beforeend", `<div class="lab">${t}</div>`);
|
| 299 |
+
const trk=document.createElement("div"); trk.className="trk";
|
| 300 |
+
// draw lowest first so the leader sits on top
|
| 301 |
+
[...ORDER].sort((a,b)=>mean(v[b])-mean(v[a])).reverse().forEach(k=>{
|
| 302 |
+
const m=mean(v[k]), d=document.createElement("div"); d.className="d"; d.style.left=(m/xmax*100)+"%"; d.style.background=M[k].c;
|
| 303 |
+
hover(d, `<b>${M[k].n}</b> · ${t}<br>mean ${fmt(m)} · scores ${v[k].join(", ")}`); trk.appendChild(d);});
|
| 304 |
+
host.appendChild(trk);
|
| 305 |
+
tbl+=`<tr><td>${t}</td>${ORDER.map(k=>`<td class="n">${fmt(mean(v[k]))}</td>`).join("")}</tr>`;
|
| 306 |
+
});
|
| 307 |
+
host.insertAdjacentHTML("beforeend", `<div class="ax">${[0,20,40,60].map(x=>`<span style="left:${x/xmax*100}%">${x}</span>`).join("")}</div>`);
|
| 308 |
+
$("#tTask").innerHTML = tbl+"</table>";
|
| 309 |
+
})();
|
| 310 |
+
|
| 311 |
+
// furthest stage
|
| 312 |
+
(function(){
|
| 313 |
+
const stageOf = r => STAGES[r.tid].filter(p=>p<=r.s).length;
|
| 314 |
+
const host=$("#stages");
|
| 315 |
+
ORDER.forEach(k=>{
|
| 316 |
+
const rs=RUNS.filter(r=>r.m===k), c=[0,0,0];
|
| 317 |
+
rs.forEach(r=>c[Math.min(stageOf(r),2)]++);
|
| 318 |
+
host.insertAdjacentHTML("beforeend", `<div><i class="sw" style="background:${M[k].c}"></i>${M[k].n}</div>`);
|
| 319 |
+
const st=document.createElement("div"); st.className="stack";
|
| 320 |
+
const labs=["nothing","reached the object","grasp or later"];
|
| 321 |
+
c.forEach((v,i)=>{ if(!v) return; const s=document.createElement("div"); s.style.flex=v; s.style.background=`var(--o${i})`; s.className="s"+i;
|
| 322 |
+
if(v>=3) s.textContent=v; hover(s, `<b>${M[k].n}</b> · ${labs[i]}<br>${v} of ${rs.length} rollouts`); st.appendChild(s);});
|
| 323 |
+
host.appendChild(st);
|
| 324 |
+
});
|
| 325 |
+
})();
|
| 326 |
+
|
| 327 |
+
// setup table
|
| 328 |
+
(function(){
|
| 329 |
+
const setups=[...new Set(ROWS.map(r=>r.setup))].sort();
|
| 330 |
+
let t=`<table><tr><th>Setup</th><th>Pair</th>${ORDER.map(k=>`<th class="n">${M[k].n}</th>`).join("")}</tr>`;
|
| 331 |
+
setups.forEach(s=>{ const rs=RUNS.filter(r=>r.setup===s); const ms=ORDER.filter(k=>rs.some(r=>r.m===k));
|
| 332 |
+
t+=`<tr><td>${s}</td><td>${ms.map(k=>M[k].n).join(" vs ")}</td>${ORDER.map(k=>{const v=rs.filter(r=>r.m===k).map(r=>r.s); return `<td class="n">${v.length?fmt(mean(v)):"<span style='color:var(--muted)'>–</span>"}</td>`}).join("")}</tr>`;});
|
| 333 |
+
$("#tSetup").innerHTML=t+"</table>";
|
| 334 |
+
})();
|
| 335 |
+
|
| 336 |
+
// all comparisons
|
| 337 |
+
(function(){
|
| 338 |
+
const pk = r => [r.A,r.B].sort((a,b)=>ORDER.indexOf(a)-ORDER.indexOf(b)).map(k=>M[k].n).join(" vs ");
|
| 339 |
+
const fill=(id,vals)=>vals.forEach(v=>$(id).insertAdjacentHTML("beforeend",`<option>${v}</option>`));
|
| 340 |
+
fill("#fPair",[...new Set(ROWS.map(pk))]); fill("#fLight",LIGHTS); fill("#fTask",[...new Set(ROWS.map(r=>r.tid+". "+r.task))].sort((a,b)=>parseInt(a)-parseInt(b)));
|
| 341 |
+
function draw(){
|
| 342 |
+
const fp=$("#fPair").value, fl=$("#fLight").value, ft=$("#fTask").value;
|
| 343 |
+
const rs=ROWS.filter(r=>(!fp||pk(r)===fp)&&(!fl||r.light===fl)&&(!ft||r.tid+". "+r.task===ft));
|
| 344 |
+
$("#cnt").textContent=`${rs.length} of ${ROWS.length}`;
|
| 345 |
+
$("#all").innerHTML=`<tr><th>Setup</th><th>Lighting</th><th>Task</th><th>A</th><th class="n">Score</th><th>B</th><th class="n">Score</th><th>Preferred</th></tr>`+
|
| 346 |
+
rs.map(r=>`<tr><td>${r.setup}</td><td>${r.light}</td><td>${r.task}</td>
|
| 347 |
+
<td class="${r.pref===r.A?"win":""}"><i class="sw" style="background:${M[r.A].c}"></i>${M[r.A].n}</td><td class="n">${r.sa}</td>
|
| 348 |
+
<td class="${r.pref===r.B?"win":""}"><i class="sw" style="background:${M[r.B].c}"></i>${M[r.B].n}</td><td class="n">${r.sb}</td>
|
| 349 |
+
<td>${r.pref==="tie"?"<span style='color:var(--muted)'>tie</span>":M[r.pref].n}</td></tr>`).join("");
|
| 350 |
+
}
|
| 351 |
+
["#fPair","#fLight","#fTask"].forEach(id=>$(id).addEventListener("change",draw)); draw();
|
| 352 |
+
})();
|
| 353 |
+
|
| 354 |
+
document.querySelectorAll(".toggle").forEach(b=>b.addEventListener("click",()=>{
|
| 355 |
+
const t=document.getElementById(b.dataset.tbl); t.hidden=!t.hidden; b.textContent=t.hidden?"Show table":"Hide table";}));
|
| 356 |
+
</script>
|
| 357 |
+
</html>
|