v4 global residual sparse RL — single model deterministic eval
Total:  150/240 = 62.50%
Seen:   136/200 = 68.00%
Unseen: 14/40 = 35.00%

Per type:
  Top_Long: 43/60 = 71.67%  (seen 74.0% / unseen 60.0%)
  Top_Short: 25/60 = 41.67%  (seen 48.0% / unseen 10.0%)
  Pant_Long: 28/60 = 46.67%  (seen 54.0% / unseen 10.0%)
  Pant_Short: 54/60 = 90.00%  (seen 96.0% / unseen 60.0%)
Reference baseline:
  SmolVLA four_types 30K (no residual): 60.42% (96 ep, 4 types)
  Historical v4 global with explore=True: 58.75% (240 ep)