### Table VII-K Conditional ablation (2D)

| Method | Applied Var | Dense Viol. | B-max | Applied Var(rank) | Dense Viol.(rank) | B-max(rank) |
| --- | --- | --- | --- | --- | --- | --- |
| Direct TD3 | -- | -- | -- | 1 | 1 | 1 |
| TD3 + projection only | -- | -- | -- | 2 | 2 | 2 |
| TD3 + action-diff (CAPS-style) | -- | -- | -- | 3 | 3 | 3 |
| CG-RVC / Full method | -- | -- | -- | 4 | 4 | 4 |
| CG-RVC-conditional | -- | -- | -- | 5 | 5 | 5 |
