Chapter 4 BBox Sigmoid Grounding Recap

Mechanisms

grounder	initial state	source proposal	keep	class CE
Activated dynamic sigmoid	activated	dynamic source proposal	sigmoid interpolation	no
Activated pinned sigmoid	activated	raw source-pinned proposal	sigmoid interpolation	no
Raw pinned sigmoid + CE	raw	raw source-pinned proposal	sigmoid interpolation	yes, 0.01

External Results

External delta grid — Grounded-minus-direct deltas. Bars are the three-seed mean; points are individual seeds; error bars are 10,000-resample paired/clustered bootstrap intervals for the seed-averaged delta.

External absolute grid — Direct versus grounded absolute values. Grounded bars show mean across seeds with seed standard deviation.

aggregate_metrics.csv | per_seed_values.csv | per_seed_deltas.csv

Traversal-Trained Development Diagnostics

Training proxy diagnostics — Held-out proxy behavior for the newly traversal-trained grounders. The class-probe panel is meaningful only for the CE run.

traversal_training_proxy.csv

Qualitative Traversal Grids

Seed 0 outputs are shown for compactness. Rows compare direct and the three grounded mechanisms for the same class and commanded traversal positions. Green boxes are the actual commanded boxes from the evaluation manifest: their centers follow the shared ten-step traversal, while their width and height come from the original source object.

Traversal boxes: natural-trained grounders: 340 zebra | source 695137. Green box is the commanded box.

Traversal boxes: natural-trained grounders: 404 airliner | source 545305. Green box is the commanded box.

Attention / Keep Diagnostics

attention_trajectory.csv

Summary Table

eval	grounder	metric	direct	grounded mean +/- SD	delta	95% CI	seed deltas
Natural boxes: natural-trained grounders	Activated dynamic sigmoid	YOLO IoU	0.4741	0.4695 +/- 0.0074	-0.0045	[-0.0176, 0.0088]	-0.0081898868;0.0057299137;-0.011174262
Natural boxes: natural-trained grounders	Activated dynamic sigmoid	Detection rate	0.9900	0.9867 +/- 0.0021	-0.0033	[-0.0103, 0.0037]	-0.00099998713;-0.003000021;-0.0059999824
Natural boxes: natural-trained grounders	Activated dynamic sigmoid	ResNet target-class accuracy	0.9530	0.9587 +/- 0.0048	0.0057	[-0.0077, 0.0193]	0.0080000162;-0.00099998713;0.0099999905
Natural boxes: natural-trained grounders	Activated pinned sigmoid	YOLO IoU	0.4687	0.4876 +/- 0.0108	0.0189	[0.0045, 0.0336]	0.031520605;0.0050692558;0.020117402
Natural boxes: natural-trained grounders	Activated pinned sigmoid	Detection rate	0.9880	0.9857 +/- 0.0041	-0.0023	[-0.0097, 0.0057]	-0.0029999614;-0.0069999695;0.003000021
Natural boxes: natural-trained grounders	Activated pinned sigmoid	ResNet target-class accuracy	0.9550	0.9537 +/- 0.0050	-0.0013	[-0.0143, 0.0120]	0.0040000081;0;-0.0079999566
Natural boxes: natural-trained grounders	Raw pinned sigmoid + CE	YOLO IoU	0.4664	0.4855 +/- 0.0059	0.0191	[0.0047, 0.0336]	0.021548361;0.024865419;0.01102829
Natural boxes: natural-trained grounders	Raw pinned sigmoid + CE	Detection rate	0.9850	0.9813 +/- 0.0068	-0.0037	[-0.0120, 0.0050]	-0.00099998713;-0.013000011;0.0029999614
Natural boxes: natural-trained grounders	Raw pinned sigmoid + CE	ResNet target-class accuracy	0.9410	0.9277 +/- 0.0160	-0.0133	[-0.0277, 0.0017]	-0.014999986;0.0070000291;-0.032000005
Traversal boxes: natural-trained grounders	Activated dynamic sigmoid	YOLO IoU	0.4600	0.4589 +/- 0.0009	-0.0011	[-0.0057, 0.0033]	8.2135201e-05;-0.0012937784;-0.0022078156
Traversal boxes: natural-trained grounders	Activated dynamic sigmoid	Detection rate	0.9847	0.9822 +/- 0.0007	-0.0025	[-0.0051, 0.0001]	-0.0017999411;-0.0034999847;-0.0021999478
Traversal boxes: natural-trained grounders	Activated dynamic sigmoid	ResNet target-class accuracy	0.9525	0.9576 +/- 0.0014	0.0051	[0.0006, 0.0097]	0.0039000511;0.0042000413;0.0070999861
Traversal boxes: natural-trained grounders	Activated pinned sigmoid	YOLO IoU	0.4605	0.4762 +/- 0.0041	0.0157	[0.0104, 0.0211]	0.018555701;0.0099299252;0.018529534
Traversal boxes: natural-trained grounders	Activated pinned sigmoid	Detection rate	0.9823	0.9783 +/- 0.0005	-0.0040	[-0.0071, -0.0009]	-0.0032999516;-0.0041999221;-0.0043998957
Traversal boxes: natural-trained grounders	Activated pinned sigmoid	ResNet target-class accuracy	0.9505	0.9516 +/- 0.0012	0.0011	[-0.0049, 0.0071]	0.0019999743;-0.00050002337;0.0019000173
Traversal boxes: natural-trained grounders	Raw pinned sigmoid + CE	YOLO IoU	0.4598	0.4812 +/- 0.0076	0.0213	[0.0162, 0.0264]	0.028934926;0.0240556;0.010950446
Traversal boxes: natural-trained grounders	Raw pinned sigmoid + CE	Detection rate	0.9843	0.9777 +/- 0.0032	-0.0066	[-0.0097, -0.0037]	-0.0049999952;-0.011099994;-0.0038000345
Traversal boxes: natural-trained grounders	Raw pinned sigmoid + CE	ResNet target-class accuracy	0.9498	0.9297 +/- 0.0174	-0.0201	[-0.0261, -0.0140]	-0.010999978;-0.004799962;-0.044399977
Traversal boxes: traversal-trained grounders	Activated dynamic sigmoid	YOLO IoU	0.4602	0.4600 +/- 0.0014	-0.0001	[-0.0046, 0.0042]	0.00084516406;-0.0021348894;0.0008880496
Traversal boxes: traversal-trained grounders	Activated dynamic sigmoid	Detection rate	0.9848	0.9819 +/- 0.0005	-0.0029	[-0.0056, -0.0002]	-0.0035000443;-0.0022999644;-0.0028999448
Traversal boxes: traversal-trained grounders	Activated dynamic sigmoid	ResNet target-class accuracy	0.9516	0.9544 +/- 0.0025	0.0028	[-0.0015, 0.0071]	0;0.0024000406;0.006000042
Traversal boxes: traversal-trained grounders	Activated pinned sigmoid	YOLO IoU	0.4566	0.4757 +/- 0.0032	0.0191	[0.0137, 0.0243]	0.023628682;0.016345978;0.017363757
Traversal boxes: traversal-trained grounders	Activated pinned sigmoid	Detection rate	0.9848	0.9762 +/- 0.0018	-0.0086	[-0.0121, -0.0052]	-0.010500014;-0.0091000199;-0.0062000155
Traversal boxes: traversal-trained grounders	Activated pinned sigmoid	ResNet target-class accuracy	0.9517	0.9499 +/- 0.0006	-0.0018	[-0.0084, 0.0049]	-0.0021999478;-0.00099998713;-0.0021998882
Traversal boxes: traversal-trained grounders	Raw pinned sigmoid + CE	YOLO IoU	0.4615	0.4778 +/- 0.0083	0.0164	[0.0113, 0.0215]	0.0048620999;0.023947775;0.02025792
Traversal boxes: traversal-trained grounders	Raw pinned sigmoid + CE	Detection rate	0.9833	0.9793 +/- 0.0010	-0.0040	[-0.0068, -0.0012]	-0.002599895;-0.0046999454;-0.0046999454
Traversal boxes: traversal-trained grounders	Raw pinned sigmoid + CE	ResNet target-class accuracy	0.9554	0.9461 +/- 0.0054	-0.0093	[-0.0145, -0.0042]	-0.003000021;-0.016300082;-0.0087000728

Proxy Table

grounder	seed	step 0 proxy IoU	step 5 proxy IoU	delta	class-probe acc	best epoch
Activated dynamic sigmoid	0	0.5983	0.6149	0.0167	0.0000	90
Activated dynamic sigmoid	1	0.5983	0.6145	0.0162	0.0000	70
Activated dynamic sigmoid	2	0.5983	0.6175	0.0192	0.0000	55
Activated pinned sigmoid	0	0.5983	0.6636	0.0653	0.0000	90
Activated pinned sigmoid	1	0.5983	0.6625	0.0642	0.0000	80
Activated pinned sigmoid	2	0.5983	0.6637	0.0654	0.0000	90
Raw pinned sigmoid + CE	0	0.3090	0.6432	0.3342	0.9997	10
Raw pinned sigmoid + CE	1	0.3090	0.6468	0.3378	0.9971	90
Raw pinned sigmoid + CE	2	0.3090	0.6420	0.3330	0.9982	95