auto-sync 2026-07-04T07:01:17Z workspace

workspace/README.md

@@ -558,12 +558,14 @@ runs/ctt_val_proxy_comparison
 This is a proxy geometry gate, not rollout success. CTT variants pass by
 improving mean distance to target positives while staying within the
 NegativeNear@0.20 safety slack; they do not beat local-atlas on PPTC thresholds.
-The gated residual variant fails the safety gate.
+The OT variant passes the same proxy gate but does not improve over plain
+residual CTT. The gated residual variant fails the safety gate.
 
 | Method | PPTC@0.20 | PPTC@0.40 | Neg@0.20 | Pos<Neg | MeanPos | Collapse | Gate |
 | --- | ---: | ---: | ---: | ---: | ---: | ---: | --- |
 | local-atlas | 0.4058 | 0.6812 | 0.0368 | 0.5998 | 0.7203 | 0.0661 | baseline |
 | CTT residual full | 0.1981 | 0.6087 | 0.0296 | 0.7352 | 0.4509 | 0.0681 | pass |
+| CTT residual+OT full | 0.1787 | 0.5894 | 0.0187 | 0.7284 | 0.4604 | 0.0681 | pass |
 | CTT residual base+context+obs | 0.2464 | 0.6425 | 0.0343 | 0.7717 | 0.4347 | 0.0681 | pass |
 | CTT gated residual full | 0.2319 | 0.6135 | 0.0527 | 0.7248 | 0.4337 | 0.0681 | fail |
 
@@ -596,16 +598,30 @@ code-path smoke, not a method result.
 | Pos<Neg | 0.5974 |
 | Mean positive distance | 0.6672 |
 
-Full 3-seed validation proxy job submitted on 2026-07-04:
+Full 3-seed validation proxy job completed on 2026-07-04:
 
 ```text
 15203117 scripts/slurm/train_ctt_ot_proxy.sbatch array=0-2
-status at submission check: PENDING (Priority)
+exit: 0:0 for tasks 0, 1, 2
+elapsed: 00:01:27 per task
 ```
 
-Interpretation: the OT path is implemented and smoke-tested. It should only be
-compared against local-atlas and residual CTT after job `15203117` completes
-and `runs/ctt_val_proxy_comparison` is regenerated from artifacts.
+Full validation result averaged over three seeds:
+
+| Metric | Value |
+| --- | ---: |
+| Rows | 207 |
+| PPTC@0.20 | 0.1787 |
+| PPTC@0.40 | 0.5894 |
+| NegativeNear@0.20 | 0.0187 |
+| Pos<Neg | 0.7284 |
+| Mean positive distance | 0.4604 |
+| Collapse | 0.0681 |
+
+Interpretation: the OT path is implemented, smoke-tested, and evaluated. It is
+safer on NegativeNear@0.20 than plain residual CTT, but it is worse on PPTC and
+mean positive distance. Treat it as an ablation/negative diagnostic, not the
+main CTT variant.
 
 ### Best current K=16 train-clean learned selector
 

workspace/latex/main.aux

@@ -79,8 +79,8 @@
 \bibcite{liu2023libero}{6}
 \bibcite{singh2026bokbo}{7}
 \bibcite{tao2024maniskill3}{8}
-\bibcite{zhang2024vlabench}{9}
 \@writefile{toc}{\contentsline {section}{\numberline {10}Conclusion}{15}{section.10}\protected@file@percent }
+\bibcite{zhang2024vlabench}{9}
 \bibcite{zhao2026verispace}{10}
 \@writefile{lot}{\contentsline {table}{\numberline {9}{\ignorespaces No-clipping validation refresh for \texttt  {base\_context\_obs}, K=8. This replays decoded raw actions from restored states and records action-bound validity labels before any clipping. The labels are action-space violations, not collision/contact outcomes.}}{17}{table.9}\protected@file@percent }
 \newlabel{tab:ctt-base-context-obs-val-noclip-rollout}{{9}{17}{No-clipping validation refresh for \texttt {base\_context\_obs}, K=8. This replays decoded raw actions from restored states and records action-bound validity labels before any clipping. The labels are action-space violations, not collision/contact outcomes}{table.9}{}}

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@@ -536,14 +536,14 @@ sets vary Lipschitz-continuously
 (./tables/source_score_sweep.tex) (./tables/selector_calibration.tex) [6]
 (../runs/ctt_residual_smoke_proxy/table.tex)
 (../runs/ctt_val_proxy_comparison/table.tex) [7]
-Overfull \hbox (21.77454pt too wide) in paragraph at lines 471--478
+Overfull \hbox (21.77454pt too wide) in paragraph at lines 474--481
 \OT1/cmr/m/n/10 base plus gen-er-ated can-di-dates in Man-iSkill, and writes me
 a-sured rows con-sum-able by \OT1/cmtt/m/n/10 scripts/eval[]metrics.py\OT1/cmr/
 m/n/10 .
  []
 
 
-Overfull \hbox (131.08893pt too wide) in paragraph at lines 479--485
+Overfull \hbox (131.08893pt too wide) in paragraph at lines 482--488
 []\OT1/cmr/m/n/10 A one-chart smoke run at K=2 ver-i-fies the mea-sured path an
 d re-store ac-cu-racy (\OT1/cmtt/m/n/10 runs/ctt[]residual[]rollout[]direct[]sm
 oke[]seed0[]v3\OT1/cmr/m/n/10 ),
@@ -552,19 +552,19 @@ oke[]seed0[]v3\OT1/cmr/m/n/10 ),
 (../runs/action_bound_audit_rgb_refs/table.tex) [8]
 (../runs/ctt_base_context_obs_val_noclip_rollout_comparison/table.tex)
 (../runs/ctt_base_context_obs_test_noclip_rollout_comparison/table.tex)
-Underfull \hbox (badness 10000) in paragraph at lines 568--568
+Underfull \hbox (badness 10000) in paragraph at lines 571--571
 []\OT1/cmr/m/n/10 Table 11: []Scaled raw-action val-i-da-tion re-fresh for \OT1
 /cmtt/m/n/10 base[]context[]obs\OT1/cmr/m/n/10 , K=8, with
  []
 
 (../runs/ctt_base_context_obs_val_scaled0215_rollout_comparison/table.tex)
-Underfull \hbox (badness 10000) in paragraph at lines 579--579
+Underfull \hbox (badness 10000) in paragraph at lines 582--582
 []\OT1/cmr/m/n/10 Table 12: []Scaled raw-action held-out test re-fresh for \OT1
 /cmtt/m/n/10 base[]context[]obs\OT1/cmr/m/n/10 , K=8, with
  []
 
 
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 \OT1/cmtt/m/n/10 --execution-action-scale 0.215 \OT1/cmr/m/n/10 and clip-ping d
 is-abled. The global scale im-proves base action-
  []
@@ -573,9 +573,9 @@ is-abled. The global scale im-proves base action-
 (../runs/ctt_base_context_obs_val_perdim_trainmax_rollout_comparison/table.tex)
 
 (../runs/ctt_base_context_obs_test_perdim_trainmax_rollout_comparison/table.tex
-) (../runs/ctt_base_context_obs_val_envclip_rollout_comparison/table.tex)
+) [9] (../runs/ctt_base_context_obs_val_envclip_rollout_comparison/table.tex)
 (../runs/ctt_base_context_obs_test_envclip_rollout_comparison/table.tex)
-[9] (../runs/ctt_base_context_obs_val_tanh_rollout_comparison/table.tex)
+(../runs/ctt_base_context_obs_val_tanh_rollout_comparison/table.tex)
 (../runs/ctt_base_context_obs_test_tanh_rollout_comparison/table.tex)
 (../runs/ctt_val_rollout_comparison/table.tex)
 (../runs/ctt_base_context_obs_val_rollout_comparison/table.tex)
@@ -593,7 +593,7 @@ est/table.tex)
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 ble.tex) [11]
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 /m/n/10 mea-sured roll-out at K=16. The ta-ble is gen-er-ated by
  []
@@ -607,107 +607,107 @@ vclip_k16_train_to_test/table.tex)
 (../runs/ctt_base_context_obs_learned_dominance_train_to_test/table.tex)
 (../runs/ctt_base_context_obs_nonlinear_dominance_basic_positive_train_to_test/
 table.tex)
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  []
 
 
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 chart[]feature[]sources.py
  []
 
 
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  []
 
 
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  []
 
 
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 \OT1/cmr/m/n/10 cre-ate de-ter-min-is-tic 32D RGB-stat and 64D RGB object-layou
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 batch
  []
 
 
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 /n/10 .
  []
 
 
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  []
 
 
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  []
 
 
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  []
 
 [13]
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 10 gen-
  []
 
 
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  []
 
 
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  []
 
 
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  []
 
 
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workspace/latex/main.tex

@@ -445,7 +445,10 @@ distance. Passing this gate permits rollout evaluation; it is not
 Table~\ref{tab:ctt-val-proxy} is the first three-seed validation support-geometry
 artifact. Residual \ctt{} lowers mean positive distance relative to local-atlas
 and keeps NegativeNear@0.20 within the one-point safety slack, but it does not
-beat local-atlas on \pptc{} coverage. Gated residual \ctt{} lowers mean positive
+beat local-atlas on \pptc{} coverage. The entropic-OT residual ablation also
+passes the proxy gate, but it is worse than plain residual \ctt{} on both
+\pptc{} coverage and mean positive distance; we therefore keep it as an
+ablation rather than the main support result. Gated residual \ctt{} lowers mean positive
 distance further, but the three-seed NegativeNear@0.20 average exceeds the
 safety slack, so it fails the proxy gate. The honest interpretation is that
 residual \ctt{} is eligible for measured rollout, while the support/safety