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ablations/table7/e4_k4/PROTOCOL.md

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+# Table 7 structural ablation: e4_k4
+
+- Experts: 4
+- Top-k: 4
+- Training: All-5 task-balanced WeightedRandomSampler, global batch 40, 120,000 optimizer updates.
+- Optimizer and schedule: body LR 2e-4, router LR 3e-4, warmup 500, full 120k cosine schedule.
+- Capability counterfactual: once every four optimizer updates.
+- Input: one local 640x480 wrist RGB-D stream and own qpos; no agent/task ID, communication or peer state.
+- Normalization: embedded qpos/action statistics are numerically identical to the published Stereo-CoRE 120k checkpoint.
+- Evaluation: All-5 Frozen-100, SR@1, 1500 steps, ever-success, no retry.
+- Source formal checkpoint SHA-256: `3b41f27f3cd4b6c09aa19f7bdd8256466cdd984460b2acab4738ce25bc5cdb54`
+- Model-state tensor SHA-256: `c7fa4f315410fb3b0b7a2ef75bf1b1b2c2ee05c26de4a7dfd756072151bf2d5b`
+
+The public checkpoint differs from the internal formal artifact only by sanitization of private filesystem strings.

ablations/table7/e4_k4/SHA256SUMS

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+ab5d7a46a0b1570549fb1aa91a4f7af29c1c7b541287c7929a8a4058200a9ebd  checkpoint_120000.pt
+4fd1d13f0a774fdc251b5b12ee316bcd42c32a22f9d6983957b0f67f9e33ab95  config.json
+216dc37fdf85c0fca0b17d2b423336f49f7ed8397d8193f73dd17bab6f6ccfd9  normalization.pt
+0ca27177607adc930ccc5a4ccceb4695865299ef174bf46f2c68c7d8abc6d227  PROTOCOL.md

ablations/table7/e4_k4/checkpoint_120000.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5d7a46a0b1570549fb1aa91a4f7af29c1c7b541287c7929a8a4058200a9ebd
+size 822531124

ablations/table7/e4_k4/config.json

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+{
+  "data": "not distributed; same locked All-5 corpus/protocol as published Stereo-CoRE",
+  "normalization": "embedded stats; numerically identical to published Stereo-CoRE 120k normalization",
+  "teacher": "not used because relation_weight=0",
+  "output": "ablations/table7/e4_k4",
+  "updates": 120000,
+  "batch_size": 40,
+  "lr": 0.0002,
+  "router_lr": 0.0003,
+  "warmup": 500,
+  "beta": 0.001,
+  "relation_weight": 0.0,
+  "capability_weight": 0.05,
+  "specialization_weight": 0.0,
+  "anchor_weight": 0.0,
+  "counterfactual_every": 4,
+  "discovery_fraction": 0.3,
+  "cache_episodes": 16,
+  "block_updates": 64,
+  "sampler_mode": "weighted_items",
+  "workers": 8,
+  "prefetch_factor": 2,
+  "persistent_h5": true,
+  "save_updates": "60000,80000,100000,120000",
+  "log_every": 50,
+  "seed": 20260801,
+  "experiment_label": "e4_k4",
+  "gpu_label": "single_gpu",
+  "experts": 4,
+  "top_k": 4,
+  "micro_batch_size": 40,
+  "gradient_accumulation": 1,
+  "allow_preflight": false,
+  "policy_variant": "stereo_pair_route",
+  "training": "from scratch",
+  "parallelism": "single RTX 5090",
+  "global_batch": 40,
+  "sample_budget": 4800000,
+  "optimizer_updates": 120000,
+  "horizon": 100,
+  "enc_layers": 4,
+  "dec_layers": 7,
+  "activation_micro_batch": 40,
+  "counterfactual_contract": "at most one capability counterfactual call per optimizer update",
+  "camera_width": 640,
+  "camera_height": 480,
+  "patch_grid": [
+    30,
+    40
+  ],
+  "depth_storage_unit": "millimeters",
+  "depth_to_meters_scale": 0.001,
+  "strict_policy_input": "single local panda_hand wrist RGB-D and own qpos; no ID/language/communication/global/peer/right-camera",
+  "training_only_signal": {
+    "synchronized_action_relation_teacher": false,
+    "real_target_counterfactual_expert_error": true,
+    "specialization_regularizer": false,
+    "stable_capability_anchor": false
+  },
+  "three_agent_batch_contract": "not applicable: relation supervision disabled for weighted local items",
+  "task_sampling": "All-3-style hierarchical task-balanced WeightedRandomSampler; tasks interleaved within every batch",
+  "source_checkpoint_sha256": "3b41f27f3cd4b6c09aa19f7bdd8256466cdd984460b2acab4738ce25bc5cdb54",
+  "model_state_sha256": "c7fa4f315410fb3b0b7a2ef75bf1b1b2c2ee05c26de4a7dfd756072151bf2d5b",
+  "publication_note": "Only private filesystem paths were sanitized; tensors, optimizer, scheduler and stats are unchanged."
+}

ablations/table7/e4_k4/normalization.pt

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+version https://git-lfs.github.com/spec/v1
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+size 1873