metadata/release_decisions.md

Release Decisions

Default Checkpoint

The default public checkpoint is full_sga_gsn_seed8_best.pt.

Reasons:

• It is the only uncommented Full SGA-GSN entry in the current paper-style manifest.
• Its best validation metric is 0.109375, higher than the seed-7 Full checkpoint value observed during audit.
• Its formal unseen-test lift is effectively aligned with seed 7 while showing smaller tactile degradation in the current summary table.

Checkpoint Scope

The release checkpoint is evaluation-only:

• Kept: actor_critic, calibrator, experiment_cfg, object_split, best-metric metadata.
• Omitted: optimizer, full history.

If exact training resume is required later, publish a separate training_resume/ artifact and document it as a larger, non-default file.

Ablations

The minimal model repo does not include ablation weights. Learned ablation weights can be added later under ablations/ if the paper release promises full ablation reproduction.

no-action and rand-action are policy modes and do not require checkpoint files.

Pending Release Gates

• Freeze the final public RL code repository and Dockerfile.
• Freeze the public SGA-GSN perception checkpoint path and checksums.
• Freeze the 3DA-VTG dataset repo and VT-Grasp simulation asset repo.
• Decide whether paper-exact seed 7 should be included alongside seed 8.