| # place_empty_cup — MPC vs pure-VLA, BOTH at max_steps 400 (apples-to-apples) | |
| Same standard as bread/canpot v3-valid (poselib + object_center MPC, | |
| completion_frames=2, fling detection > 2.0 m/s with 15-tick grace, run-until- | |
| 50-valid with flung seeds dropped & re-drawn). The ONLY difference: here MPC AND | |
| pure-VLA both use max_steps=400, so it's a fully fair comparison on identical | |
| valid seeds. | |
| ## Result (env_success / 50 valid) | |
| | method (both 400 steps) | success | flung | | |
| |---|---|---| | |
| | MPC (object_center + poselib) | 33/50 (66%) | 2 | | |
| | pure-VLA (passthrough) | 34/50 (68%) | 0 | | |
| **Tied (VLA +1).** With equal time budget and identical seeds, MPC correction | |
| gives no benefit on cup — consistent with bread/canpot. For reference, at 200 | |
| steps cup was MPC 29/50, VLA 31/50; doubling the horizon lifted both ~+4 but kept | |
| them tied. | |
| `comparison/cmp_seed<seed>_VLA-<r>_MPC-<r>.mp4`: LEFT=VLA, MIDDLE=MPC, | |
| RIGHT=MPC constraints; labels green=SUCCESS / red otherwise. | |