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#1CSR=# total constraints# constraints satisfied in G^ #2Contra=# constraints violated in G^ #3RepairCost=Hamming distance(G^,G∗)/∣E∗∣ #4GA=# total edges# locally-predicted edges consistent with global solution #5ASR=# total episodes# episodes reaching goal without constraint violation #6SVR=# total episodes# episodes with violated constraints #7RecoveryRate=# perturbed episodes# episodes recovering after perturbation #8Latency=time per forward pass (ms) #9PeakMem=max GPU/CPU memory (MB) #10IterCount=# iterations until tolerance threshold #11ASR(n)=f(nobjects) #12ΔASR=ASRclean−ASRnoisy #13OOD ASR=ASR on unseen constraint types or object combinations #14TPR=# actual shifts# detected shifts #15FPR=# non-shift windows# false alarms #16Delay=∣t^shift−tshift∣