From 735e42db102cf513b5e8b925f9f7b754f31848d4 Mon Sep 17 00:00:00 2001
From: tactino <18781106300@163.com>
Date: Sun, 27 Sep 2026 07:22:32 -0400
Subject: [PATCH 1/4] =?UTF-8?q?figure(coverage):=20the=20fpo-policy=20?=
 =?UTF-8?q?=C2=B7=20DPPO=20row=20and=20dppo-policy's=20Hopper=20and=20Walk?=
 =?UTF-8?q?er2d=20learn?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

fpo-policy under DPPO with dppo-policy's structure (E30, E33) learns
HalfCheetah, Hopper and Walker2d; dppo-policy under DPPO learns Hopper and
Walker2d at 300 iterations (E31). Clips from each cell's median seed, the
evaluation commands carry the structure, and the training commands are the
ones those experiments ran.
---
 figures/coverage/cells.json    | 45 ++++++++++++++++++----------------
 figures/coverage/commands.json | 26 ++++++++++----------
 2 files changed, 37 insertions(+), 34 deletions(-)

diff --git a/figures/coverage/cells.json b/figures/coverage/cells.json
index af8bf16..370418d 100644
--- a/figures/coverage/cells.json
+++ b/figures/coverage/cells.json
@@ -51,30 +51,33 @@
     },
     {
       "id": "fpo-dppo-cheetah", "row": "fpo-dppo", "column": "cheetah",
-      "status": "flat", "experiments": ["E17", "E18"],
-      "note": "no learning in 409,600 steps", "note_zh": "409,600 步内没学会",
-      "runs": "coverage/stage/e18/halfcheetah-seed{seed}", "seed": 1,
-      "server": ["fpo-policy", "default", "eval", "default", "--policy.obs-dim", "17", "--policy.action-dim", "6"],
+      "status": "learns", "experiments": ["E17", "E18", "E30", "E33"],
+      "note": "+1,294 to +1,411 with dppo-policy's structure", "note_zh": "换成 dppo-policy 的结构后 +1294 到 +1411",
+      "runs": "e33/experiments/e33-fpo-dppo-structure/results/fpo-cheetah/dppo/fpo-policy/fpo-cheetah-seed{seed}", "seed": 0,
+      "server": ["fpo-policy", "default", "eval", "default", "--policy.obs-dim", "17", "--policy.action-dim", "6",
+                 "--policy.action-horizon", "4", "--policy.flow-steps", "20", "--policy.hidden-dims", "512", "512", "512"],
       "client": ["mujoco-v1", "--env.name", "HalfCheetah-v5", "--env.render"],
-      "replan": 1, "native_fps": 20
+      "replan": 4, "native_fps": 20
     },
     {
       "id": "fpo-dppo-hopper", "row": "fpo-dppo", "column": "hopper",
-      "status": "flat", "experiments": ["E28", "E29"],
-      "note": "no learning; with 10× the noise, +74 to +106", "note_zh": "没学会；噪声放大 10 倍后 +74 到 +106",
-      "runs": "e28/experiments/e28-dppo-learns/results/fpodppo-hopper/dppo/fpo-policy/fpodppo-hopper-seed{seed}", "seed": 0,
-      "server": ["fpo-policy", "default", "eval", "default", "--policy.obs-dim", "11", "--policy.action-dim", "3"],
+      "status": "learns", "experiments": ["E28", "E29", "E30", "E33"],
+      "note": "998–1,037 with dppo-policy's structure, mostly by staying up", "note_zh": "换成 dppo-policy 的结构后 998–1037，主要靠站住不倒",
+      "runs": "e33/experiments/e33-fpo-dppo-structure/results/fpo-hopper/dppo/fpo-policy/fpo-hopper-seed{seed}", "seed": 3,
+      "server": ["fpo-policy", "default", "eval", "default", "--policy.obs-dim", "11", "--policy.action-dim", "3",
+                 "--policy.action-horizon", "4", "--policy.flow-steps", "20", "--policy.hidden-dims", "512", "512", "512"],
       "client": ["mujoco-v1", "--env.name", "Hopper-v5", "--env.render"],
-      "replan": 1, "native_fps": 125
+      "replan": 4, "native_fps": 125
     },
     {
       "id": "fpo-dppo-walker", "row": "fpo-dppo", "column": "walker",
-      "status": "flat", "experiments": ["E28"],
-      "note": "no learning in 409,600 steps", "note_zh": "409,600 步内没学会",
-      "runs": "e28/experiments/e28-dppo-learns/results/fpodppo-walker/dppo/fpo-policy/fpodppo-walker-seed{seed}", "seed": 2,
-      "server": ["fpo-policy", "default", "eval", "default", "--policy.obs-dim", "17", "--policy.action-dim", "6"],
+      "status": "learns", "experiments": ["E28", "E33"],
+      "note": "283–569 with dppo-policy's structure; 2 of 3 seeds past the bar", "note_zh": "换成 dppo-policy 的结构后 283–569，3 个种子里 2 个过线",
+      "runs": "e33/experiments/e33-fpo-dppo-structure/results/fpo-walker/dppo/fpo-policy/fpo-walker-seed{seed}", "seed": 0,
+      "server": ["fpo-policy", "default", "eval", "default", "--policy.obs-dim", "17", "--policy.action-dim", "6",
+                 "--policy.action-horizon", "4", "--policy.flow-steps", "20", "--policy.hidden-dims", "512", "512", "512"],
       "client": ["mujoco-v1", "--env.name", "Walker2d-v5", "--env.render"],
-      "replan": 1, "native_fps": 125
+      "replan": 4, "native_fps": 125
     },
     {
       "id": "fpo-dppo-square", "row": "fpo-dppo", "column": "square",
@@ -97,18 +100,18 @@
     },
     {
       "id": "dppo-dppo-hopper", "row": "dppo-dppo", "column": "hopper",
-      "status": "rising", "experiments": ["E28"],
-      "note": "11–16 → 276–430, still rising; the bar is 500", "note_zh": "从 11–16 升到 276–430，还在涨；线是 500",
-      "runs": "e28/experiments/e28-dppo-learns/results/dppo-hopper/dppo/dppo-policy/dppo-hopper-seed{seed}", "seed": 0,
+      "status": "learns", "experiments": ["E28", "E31"],
+      "note": "812–961 at 300 iterations; 3 of 3 seeds past the bar", "note_zh": "300 轮后 812–961，3 个种子全部过线",
+      "runs": "e31/experiments/e31-dppo-longer/results/dppo-hopper/dppo/dppo-policy/dppo-hopper-seed{seed}", "seed": 0,
       "server": ["dppo-policy", "hopper", "eval", "default"],
       "client": ["mujoco-v1", "--env.name", "Hopper-v5", "--env.render"],
       "replan": 4, "native_fps": 125
     },
     {
       "id": "dppo-dppo-walker", "row": "dppo-dppo", "column": "walker",
-      "status": "rising", "experiments": ["E28"],
-      "note": "about −2 → 260–292, then flat; the bar is 500", "note_zh": "从约 −2 升到 260–292 后走平；线是 500",
-      "runs": "e28/experiments/e28-dppo-learns/results/dppo-walker/dppo/dppo-policy/dppo-walker-seed{seed}", "seed": 2,
+      "status": "learns", "experiments": ["E28", "E31"],
+      "note": "528–622 at 300 iterations; 3 of 3 seeds past the bar", "note_zh": "300 轮后 528–622，3 个种子全部过线",
+      "runs": "e31/experiments/e31-dppo-longer/results/dppo-walker/dppo/dppo-policy/dppo-walker-seed{seed}", "seed": 2,
       "server": ["dppo-policy", "walker", "eval", "default"],
       "client": ["mujoco-v1", "--env.name", "Walker2d-v5", "--env.render"],
       "replan": 4, "native_fps": 125
diff --git a/figures/coverage/commands.json b/figures/coverage/commands.json
index 4cd24dd..89e82cc 100644
--- a/figures/coverage/commands.json
+++ b/figures/coverage/commands.json
@@ -28,19 +28,19 @@
       "env": "robomimic", "source": "experiments/e27-robomimic/run_cell.sh"
     },
     "fpo-dppo-cheetah": {
-      "server": ["fpo-policy default dppo cheetah", "--port 8000 --seed 0 --policy.device cpu", "--algo.buffer-size 4096 --algo.train-itrs 100"],
-      "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name HalfCheetah-v5 --runner.replan-steps 1 --runner.seed 0"],
-      "env": "mujoco", "source": "experiments/e18-dppo-normalised/run.sh"
+      "server": ["fpo-policy default dppo cheetah", "--port 8000 --seed 0 --policy.device cpu", "--policy.obs-dim 17 --policy.action-dim 6", "--policy.action-horizon 4 --policy.flow-steps 20 --policy.hidden-dims 512 512 512", "--algo.sampling-noise-level 1.0 --algo.logprob-noise-level 1.0", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 300"],
+      "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name HalfCheetah-v5 --runner.replan-steps 4 --runner.seed 0"],
+      "env": "mujoco", "source": "experiments/e33-fpo-dppo-structure/run.sh"
     },
     "fpo-dppo-hopper": {
-      "server": ["fpo-policy default dppo hopper", "--port 8000 --seed 0 --policy.device cpu", "--policy.obs-dim 11 --policy.action-dim 3", "--algo.buffer-size 4096 --algo.train-itrs 100"],
-      "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name Hopper-v5 --runner.replan-steps 1 --runner.seed 0"],
-      "env": "mujoco", "source": "experiments/e28-dppo-learns/run.sh"
+      "server": ["fpo-policy default dppo hopper", "--port 8000 --seed 3 --policy.device cpu", "--policy.obs-dim 11 --policy.action-dim 3", "--policy.action-horizon 4 --policy.flow-steps 20 --policy.hidden-dims 512 512 512", "--algo.sampling-noise-level 1.0 --algo.logprob-noise-level 1.0", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 300"],
+      "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name Hopper-v5 --runner.replan-steps 4 --runner.seed 3"],
+      "env": "mujoco", "source": "experiments/e33-fpo-dppo-structure/run.sh"
     },
     "fpo-dppo-walker": {
-      "server": ["fpo-policy default dppo walker", "--port 8000 --seed 0 --policy.device cpu", "--policy.obs-dim 17 --policy.action-dim 6", "--algo.buffer-size 4096 --algo.train-itrs 100"],
-      "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name Walker2d-v5 --runner.replan-steps 1 --runner.seed 0"],
-      "env": "mujoco", "source": "experiments/e28-dppo-learns/run.sh"
+      "server": ["fpo-policy default dppo walker", "--port 8000 --seed 0 --policy.device cpu", "--policy.obs-dim 17 --policy.action-dim 6", "--policy.action-horizon 4 --policy.flow-steps 20 --policy.hidden-dims 512 512 512", "--algo.sampling-noise-level 1.0 --algo.logprob-noise-level 1.0", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 300"],
+      "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name Walker2d-v5 --runner.replan-steps 4 --runner.seed 0"],
+      "env": "mujoco", "source": "experiments/e33-fpo-dppo-structure/run.sh"
     },
     "fpo-dppo-square": {
       "server": ["fpo-policy default dppo default", "--port 8000 --seed 0 --policy.device cpu", "--policy.obs-dim 23 --policy.action-dim 7", "--policy.state-keys robot0_eef_pos robot0_eef_quat robot0_gripper_qpos object", "--algo.buffer-size 4096 --algo.batch-size 256 --algo.train-itrs 20"],
@@ -53,14 +53,14 @@
       "env": "mujoco", "source": "experiments/e28-dppo-learns/run.sh"
     },
     "dppo-dppo-hopper": {
-      "server": ["dppo-policy hopper dppo hopper", "--port 8000 --seed 0 --policy.device cpu", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 100"],
+      "server": ["dppo-policy hopper dppo hopper", "--port 8000 --seed 0 --policy.device cpu", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 300"],
       "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name Hopper-v5 --runner.replan-steps 4 --runner.seed 0"],
-      "env": "mujoco", "source": "experiments/e28-dppo-learns/run.sh"
+      "env": "mujoco", "source": "experiments/e31-dppo-longer/run.sh"
     },
     "dppo-dppo-walker": {
-      "server": ["dppo-policy walker dppo walker", "--port 8000 --seed 0 --policy.device cpu", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 100"],
+      "server": ["dppo-policy walker dppo walker", "--port 8000 --seed 0 --policy.device cpu", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 300"],
       "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name Walker2d-v5 --runner.replan-steps 4 --runner.seed 0"],
-      "env": "mujoco", "source": "experiments/e28-dppo-learns/run.sh"
+      "env": "mujoco", "source": "experiments/e31-dppo-longer/run.sh"
     },
     "dppo-dppo-square": {
       "server": ["dppo-policy default dppo default", "--port 8000 --seed 0 --policy.device cpu", "--policy.env-type robomimic --policy.env-name square", "--algo.buffer-size 1024 --algo.batch-size 256 --algo.train-itrs 20"],

From 055b6a6d1ddf3604fae9901c38cd03b1d4447809 Mon Sep 17 00:00:00 2001
From: tactino <18781106300@163.com>
Date: Sun, 27 Sep 2026 07:25:42 -0400
Subject: [PATCH 2/4] figure(coverage): a cell can name the seeds its
 experiment ran

E33 ran Hopper on seeds 3-5; data.py read seeds 0-2 for every cell and drew
no curve for it. Commands stay shown with seed 0.
---
 figures/coverage/cells.json    | 4 ++--
 figures/coverage/commands.json | 4 ++--
 figures/coverage/data.py       | 4 +++-
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/figures/coverage/cells.json b/figures/coverage/cells.json
index 370418d..c03c795 100644
--- a/figures/coverage/cells.json
+++ b/figures/coverage/cells.json
@@ -1,5 +1,5 @@
 {
-  "_about": "The coverage figure's cells. `runs` is relative to the machine's PlugRL home and takes {seed}; `seed` is the one whose mean return over its last ten iterations is the median of the three (ties: the lowest seed). `status` is what the experiments established, not what the video shows.",
+  "_about": "The coverage figure's cells. `runs` is relative to the machine's PlugRL home and takes {seed}; `seed` is the one whose mean return over its last ten iterations is the median of the three (ties: the lowest seed). `seeds`, when present, are the three the experiment ran; otherwise 0-2. `status` is what the experiments established, not what the video shows.",
   "rows": [
     {"id": "fpo-fpo", "label": "fpo-policy · FPO"},
     {"id": "fpo-dppo", "label": "fpo-policy · DPPO"},
@@ -63,7 +63,7 @@
       "id": "fpo-dppo-hopper", "row": "fpo-dppo", "column": "hopper",
       "status": "learns", "experiments": ["E28", "E29", "E30", "E33"],
       "note": "998–1,037 with dppo-policy's structure, mostly by staying up", "note_zh": "换成 dppo-policy 的结构后 998–1037，主要靠站住不倒",
-      "runs": "e33/experiments/e33-fpo-dppo-structure/results/fpo-hopper/dppo/fpo-policy/fpo-hopper-seed{seed}", "seed": 3,
+      "runs": "e33/experiments/e33-fpo-dppo-structure/results/fpo-hopper/dppo/fpo-policy/fpo-hopper-seed{seed}", "seed": 3, "seeds": [3, 4, 5],
       "server": ["fpo-policy", "default", "eval", "default", "--policy.obs-dim", "11", "--policy.action-dim", "3",
                  "--policy.action-horizon", "4", "--policy.flow-steps", "20", "--policy.hidden-dims", "512", "512", "512"],
       "client": ["mujoco-v1", "--env.name", "Hopper-v5", "--env.render"],
diff --git a/figures/coverage/commands.json b/figures/coverage/commands.json
index 89e82cc..16d459a 100644
--- a/figures/coverage/commands.json
+++ b/figures/coverage/commands.json
@@ -33,8 +33,8 @@
       "env": "mujoco", "source": "experiments/e33-fpo-dppo-structure/run.sh"
     },
     "fpo-dppo-hopper": {
-      "server": ["fpo-policy default dppo hopper", "--port 8000 --seed 3 --policy.device cpu", "--policy.obs-dim 11 --policy.action-dim 3", "--policy.action-horizon 4 --policy.flow-steps 20 --policy.hidden-dims 512 512 512", "--algo.sampling-noise-level 1.0 --algo.logprob-noise-level 1.0", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 300"],
-      "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name Hopper-v5 --runner.replan-steps 4 --runner.seed 3"],
+      "server": ["fpo-policy default dppo hopper", "--port 8000 --seed 0 --policy.device cpu", "--policy.obs-dim 11 --policy.action-dim 3", "--policy.action-horizon 4 --policy.flow-steps 20 --policy.hidden-dims 512 512 512", "--algo.sampling-noise-level 1.0 --algo.logprob-noise-level 1.0", "--algo.buffer-size 1024 --algo.batch-size 512 --algo.train-itrs 300"],
+      "client": ["mujoco-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name Hopper-v5 --runner.replan-steps 4 --runner.seed 0"],
       "env": "mujoco", "source": "experiments/e33-fpo-dppo-structure/run.sh"
     },
     "fpo-dppo-walker": {
diff --git a/figures/coverage/data.py b/figures/coverage/data.py
index 91d2dbd..e94ee6a 100644
--- a/figures/coverage/data.py
+++ b/figures/coverage/data.py
@@ -48,7 +48,9 @@ def main() -> int:
 
     cells = []
     for cell in spec["cells"]:
-        curves = [returns(HOME / cell["runs"].format(seed=s)) for s in range(3)]
+        # Most cells ran seeds 0-2; a cell that ran others names them.
+        seeds = cell.get("seeds", [0, 1, 2])
+        curves = [returns(HOME / cell["runs"].format(seed=s)) for s in seeds]
         cells.append(
             {
                 "id": cell["id"],

From 9257b1c4737ef27782c53f4ee2346243210703e2 Mon Sep 17 00:00:00 2001
From: tactino <18781106300@163.com>
Date: Sun, 27 Sep 2026 09:43:28 -0400
Subject: [PATCH 3/4] =?UTF-8?q?figure(coverage):=20pi0-policy=20=C2=B7=20F?=
 =?UTF-8?q?PO=20holds=20with=20FPO++'s=20chunk=20loss=20(E32)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

One update leaves pi0.5 at 33 of 50 where FPO's own chunk loss took it to 0.
The clip is the E32 fpopp checkpoint on initial state 0; the command is the
one E32 trained it with.
---
 figures/coverage/cells.json    | 6 +++---
 figures/coverage/commands.json | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/figures/coverage/cells.json b/figures/coverage/cells.json
index c03c795..4915f32 100644
--- a/figures/coverage/cells.json
+++ b/figures/coverage/cells.json
@@ -139,9 +139,9 @@
       },
       {
         "id": "pi0-fpo", "label": "pi0-policy · FPO", "label_zh": "pi0-policy · FPO",
-        "status": "collapses", "experiments": ["E14", "E26"], "score": [0, 50],
-        "note": "one iteration takes it to 0; our defect, under investigation",
-        "note_zh": "一轮后掉到 0；是我们平台的问题，正在排查",
+        "status": "holds", "experiments": ["E14", "E26", "E32"], "score": [33, 50],
+        "note": "one update with FPO++'s chunk loss leaves it intact; FPO's own took it to 0",
+        "note_zh": "换成 FPO++ 的块损失后一次更新没毁掉它；原版 FPO 会让它归零",
         "video_key": "base", "native_fps": 20, "whole": true
       },
       {
diff --git a/figures/coverage/commands.json b/figures/coverage/commands.json
index 16d459a..3283823 100644
--- a/figures/coverage/commands.json
+++ b/figures/coverage/commands.json
@@ -73,9 +73,9 @@
       "env": "libero", "source": "experiments/e26-frozen-mlp/eval.sh"
     },
     "pi0-fpo": {
-      "server": ["pi0-policy default fpo default", "--port 8000 --seed 7 --policy.device cuda:0", "--policy.name pi05_libero --policy.checkpoint-path PI05_LIBERO_CHECKPOINT", "--algo.learning-rate 1e-5 --algo.clipping-epsilon 0.05", "--algo.num-updates-per-batch 4 --algo.n-samples-per-action 4", "--algo.buffer-size 4096 --algo.batch-size 8 --algo.global-steps 4096", "--algo.master-weights-device cuda:1"],
+      "server": ["pi0-policy default fpo default", "--port 8000 --seed 7 --policy.device cuda:0", "--policy.name pi05_libero --policy.checkpoint-path PI05_LIBERO_CHECKPOINT", "--algo.learning-rate 1e-5 --algo.clipping-epsilon 0.05", "--algo.num-updates-per-batch 4 --algo.n-samples-per-action 4", "--algo.buffer-size 4096 --algo.batch-size 8 --algo.global-steps 8192", "--algo.master-weights-device cuda:1", "--algo.n-critic-warmup-itrs 1", "--algo.output-mode u --algo.no-discretize-t-for-training", "--algo.cfm-loss-steps 5 --algo.cfm-loss-dims 7 --algo.cfm-loss-sum-over-steps", "--algo.ratio-per-sample"],
       "client": ["libero-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-procs 10 --num-episodes 100000", "--env.task-suite-name libero_10 --env.task-id 8", "--env.randomize-initial-state --runner.replan-steps 5 --runner.seed 7"],
-      "env": "libero", "source": "experiments/e26-frozen-mlp/train.sh"
+      "env": "libero", "source": "experiments/e32-pi0-fpo-plus-plus/train.sh"
     },
     "pi0-dppo": {
       "server": ["pi0-policy default dppo libero", "--port 8000 --seed 7 --policy.device cuda:0", "--policy.name pi05_libero --policy.checkpoint-path PI05_LIBERO_CHECKPOINT", "--algo.buffer-size 4096 --algo.batch-size 8 --algo.train-itrs 2"],

From 4e044dc742364d06542c46c84d65c2a4154b1f78 Mon Sep 17 00:00:00 2001
From: tactino <18781106300@163.com>
Date: Sun, 27 Sep 2026 12:33:55 -0400
Subject: [PATCH 4/4] =?UTF-8?q?figure(coverage):=20dppo-policy=20=C2=B7=20?=
 =?UTF-8?q?DPPO=20learns=20square=20from=20DPPO's=20released=20policy=20(E?=
 =?UTF-8?q?34)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 figures/coverage/cells.json    | 8 ++++----
 figures/coverage/commands.json | 6 +++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/figures/coverage/cells.json b/figures/coverage/cells.json
index 4915f32..f531ed6 100644
--- a/figures/coverage/cells.json
+++ b/figures/coverage/cells.json
@@ -118,10 +118,10 @@
     },
     {
       "id": "dppo-dppo-square", "row": "dppo-dppo", "column": "square",
-      "status": "runs", "experiments": ["E27"],
-      "note": "no success yet: sparse reward, random start", "note_zh": "还没成功过：稀疏奖励、随机初始化",
-      "runs": "e27/experiments/e27-robomimic/results/dppo-rm/dppo/dppo-policy/dppo-rm-seed{seed}", "seed": 0,
-      "server": ["dppo-policy", "default", "eval", "default", "--policy.env-type", "robomimic", "--policy.env-name", "square"],
+      "status": "learns", "experiments": ["E27", "E34"],
+      "note": "from DPPO's released policy, success 0.33–0.36 → 0.65–0.70", "note_zh": "从 DPPO 官方预训练策略起步，成功率 0.33–0.36 → 0.65–0.70",
+      "runs": "e34/experiments/e34-square-dppo/results/dppo-square/dppo/dppo-policy/dppo-square-seed{seed}", "seed": 2,
+      "server": ["dppo-policy", "square", "eval", "default"],
       "client": ["robomimic-v1", "--env.name", "square-img", "--env.agentview-image-size", "256", "256"],
       "replan": 4, "native_fps": 20
     }
diff --git a/figures/coverage/commands.json b/figures/coverage/commands.json
index 3283823..65b52ad 100644
--- a/figures/coverage/commands.json
+++ b/figures/coverage/commands.json
@@ -63,9 +63,9 @@
       "env": "mujoco", "source": "experiments/e31-dppo-longer/run.sh"
     },
     "dppo-dppo-square": {
-      "server": ["dppo-policy default dppo default", "--port 8000 --seed 0 --policy.device cpu", "--policy.env-type robomimic --policy.env-name square", "--algo.buffer-size 1024 --algo.batch-size 256 --algo.train-itrs 20"],
-      "client": ["robomimic-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-episodes 100000", "--env.name square-img --env.agentview-image-size 84 84", "--runner.replan-steps 4"],
-      "env": "robomimic", "source": "experiments/e27-robomimic/run_cell.sh"
+      "server": ["dppo-policy square dppo square", "--port 8000 --seed 0 --policy.device cpu", "--policy.checkpoint-path DPPO_SQUARE_CHECKPOINT", "--algo.train-itrs 40"],
+      "client": ["robomimic-v1 --server-host 127.0.0.1 --server-port 8000", "--num-envs 1 --num-procs 6 --num-episodes 100000", "--env.name square-img --env.agentview-image-size 84 84", "--env.no-terminate-on-success --runner.replan-steps 4"],
+      "env": "robomimic", "source": "experiments/e34-square-dppo/run_cell.sh"
     },
     "pi0-base": {
       "server": ["pi0-policy default eval default", "--port 8000 --policy.device cuda", "--policy.name pi05_libero --policy.checkpoint-path PI05_LIBERO_CHECKPOINT"],