| # 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. | |