The checkpoint kept for evaluation is chosen by test_success_rate, not validation loss
92# Track best model for this planner type93if metrics.test_success_rate > best_results[planner_type]["success_rate"]:94 best_results[planner_type]["success_rate"] = metrics.test_success_rate95 best_results[planner_type]["model_type"] = model_type96 best_results[planner_type]["epoch"] = epochPaper · §3.4, p. 5“We select the model checkpoint that achieves the lowest loss on the validation set for evaluation.”
The code instead keeps whichever checkpoint scores best on the test set, so the reported number is not the validation-selected result the paper describes.