Question about the MUJOCO PUSH accuracy

[shentt67]

Thanks for your excellent work! I have questions about the results in Table 17. Is there a scientific notation unit missed since my reproduction results are about 0.0023 in MSE?

Just like in Table 18, where the scientific notation is provided:

Thanks for your time. Here are my test logs:
Training Time: 616.6786675453186
Training Peak Mem: 22735.2109375
Training Params: 1904986
mse: 0.002326280577108264
Inference Time: 2.2704453468322754
Inference Params: 1904986
Testing on noisy data (image)...
10%|█ | 1/10 [00:02<00:19, 2.18s/it]mse: 0.002326280577108264
mse: 1.2753043174743652
30%|███ | 3/10 [00:06<00:15, 2.21s/it]mse: 1.7230396270751953
mse: 2.0257174968719482
50%|█████ | 5/10 [00:11<00:11, 2.22s/it]mse: 2.305746078491211
60%|██████ | 6/10 [00:13<00:08, 2.22s/it]mse: 2.6151041984558105
70%|███████ | 7/10 [00:15<00:06, 2.22s/it]mse: 2.7902309894561768
mse: 2.8953778743743896
90%|█████████ | 9/10 [00:19<00:02, 2.23s/it]mse: 2.9822394847869873
mse: 3.0394344329833984
relative robustness (image, MSE): 0.0
effective robustness (image, MSE): 0.0
100%|██████████| 10/10 [00:22<00:00, 2.22s/it]
0%| | 0/10 [00:00<?, ?it/s]Plot saved as My method-gentle push image-image-MSE
Testing on noisy data (proprio)...
mse: 0.002326280577108264
20%|██ | 2/10 [00:04<00:19, 2.40s/it]mse: 0.07984583079814911
30%|███ | 3/10 [00:07<00:16, 2.39s/it]mse: 0.13955439627170563
40%|████ | 4/10 [00:09<00:14, 2.39s/it]mse: 0.20418862998485565
50%|█████ | 5/10 [00:11<00:11, 2.38s/it]mse: 0.26611292362213135
60%|██████ | 6/10 [00:14<00:09, 2.38s/it]mse: 0.32232439517974854
70%|███████ | 7/10 [00:16<00:07, 2.38s/it]mse: 0.3833681344985962
mse: 0.4626495838165283
90%|█████████ | 9/10 [00:21<00:02, 2.38s/it]mse: 0.5830950736999512
100%|██████████| 10/10 [00:23<00:00, 2.38s/it]
mse: 0.7971442341804504
relative robustness (proprio, MSE): 0.0
effective robustness (proprio, MSE): 0.0
0%| | 0/10 [00:00<?, ?it/s]Plot saved as My method-gentle push proprio-proprio-MSE
Testing on noisy data (haptics)...
10%|█ | 1/10 [00:02<00:21, 2.37s/it]mse: 0.002326280577108264
mse: 0.0036232746206223965
30%|███ | 3/10 [00:07<00:16, 2.38s/it]mse: 0.0056821503676474094
40%|████ | 4/10 [00:09<00:14, 2.37s/it]mse: 0.0069841258227825165
50%|█████ | 5/10 [00:11<00:11, 2.37s/it]mse: 0.007524526212364435
60%|██████ | 6/10 [00:14<00:09, 2.37s/it]mse: 0.007330612279474735
70%|███████ | 7/10 [00:16<00:07, 2.38s/it]mse: 0.006867253687232733
mse: 0.006039843894541264
90%|█████████ | 9/10 [00:21<00:02, 2.37s/it]mse: 0.005186266731470823
100%|██████████| 10/10 [00:23<00:00, 2.38s/it]
mse: 0.0038046431727707386
relative robustness (haptics, MSE): 0.0
effective robustness (haptics, MSE): 0.0
0%| | 0/10 [00:00<?, ?it/s]Plot saved as My method-gentle push haptics-haptics-MSE
Testing on noisy data (controls)...
mse: 0.002326280577108264
20%|██ | 2/10 [00:04<00:19, 2.38s/it]mse: 0.06037278473377228
mse: 0.056742727756500244
40%|████ | 4/10 [00:09<00:14, 2.38s/it]mse: 0.0527164526283741
mse: 0.04934581369161606
60%|██████ | 6/10 [00:14<00:09, 2.38s/it]mse: 0.046973370015621185
70%|███████ | 7/10 [00:16<00:07, 2.37s/it]mse: 0.04735881835222244
mse: 0.04990621283650398
90%|█████████ | 9/10 [00:21<00:02, 2.38s/it]mse: 0.060220394283533096
mse: 0.0837954431772232
relative robustness (controls, MSE): 0.0
effective robustness (controls, MSE): 0.0
100%|██████████| 10/10 [00:23<00:00, 2.38s/it]
0%| | 0/10 [00:00<?, ?it/s]Plot saved as My method-gentle push controls-controls-MSE
Testing on noisy data (multimodal)...
mse: 0.002326280577108264
20%|██ | 2/10 [00:04<00:18, 2.37s/it]mse: 0.40776482224464417
mse: 0.629368782043457
40%|████ | 4/10 [00:09<00:14, 2.38s/it]mse: 0.7287225127220154
mse: 0.7674158811569214
60%|██████ | 6/10 [00:14<00:09, 2.37s/it]mse: 0.8007391691207886
mse: 0.8004142045974731
80%|████████ | 8/10 [00:18<00:04, 2.37s/it]mse: 0.8466270565986633
90%|█████████ | 9/10 [00:21<00:02, 2.37s/it]mse: 0.9301233291625977
100%|██████████| 10/10 [00:23<00:00, 2.37s/it]
mse: 1.0777761936187744
relative robustness (multimodal, MSE): 0.0
effective robustness (multimodal, MSE): 0.0
Plot saved as My method-gentle push multimodal-multimodal-MSE