# Side-by-side: pure-VLA vs MPC (MPC updated with 400-step re-runs)

Filename + in-video labels encode both outcomes (green=SUCCESS, red otherwise):
`cmp_seed<seed>_VLA-<result>_MPC-<result>.mp4`. LEFT = pure VLA (200 steps),
MIDDLE = MPC, RIGHT = MPC constraint readout.

**MPC results were refreshed**: seeds that MPC failed at 200 steps were re-run at
400 steps; the recovered ones now show SUCCESS and use the 400-step MPC video.
So MPC here is "up to 400 steps", VLA is 200 steps (not fully apples-to-apples).

## Final success (env_success / 50 valid seeds)

| task | MPC (≤400 steps) | pure-VLA (200 steps) |
|---|---|---|
| place_bread_skillet | 33/50 (66%) | 25/50 (50%) |
| move_can_pot        | 39/50 (78%) | 41/50 (82%) |

Updated MPC breakdown: bread 33 SUCCESS / 7 FAIL / 10 FLUNG; canpot 39 SUCCESS /
11 FAIL / 0 FLUNG (the 400-step horizon made bread fling far more).