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4fd79a1 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 | # V5 — Hard Controlled Dynamics
V4 showed that selective spectral regulation repaired the failure of global contraction, but the no-spectral-transition control remained highly competitive. V5 therefore changes the **benchmark difficulty rather than the stability mechanism**.
The new benchmark preserves the same image/text/action API while adding inertial velocity, action-conditioned acceleration, wall bounces, a moving distractor, a central occluder, stochastic target occlusion, and longer training sequences. This is designed to make simple latent persistence insufficient.
## Primary experiment
`PYTHONPATH=. python scripts/run_v5_benchmark.py --seeds 0 1 2 3 4 --horizons 5 10 20 30 50 100 --device cuda`
Primary output: `results/v5_hard_dynamics/metrics_summary.csv`.
Interpret the benchmark as an attribution experiment. Compare `swm_selective` with `swm`, `no_spectral_transition`, `koopman`, and `neural_operator`. Report image MSE, recurrent text accuracy, latent cosine separately; the joint score is diagnostic only.
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