d090685ca9b03c5e34c92f0ef99fbc03e433da21
12 Commits
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d090685ca9 |
feat(phase-e-4-a-T16): vol-regime detection + cost-aware training
Adds two coupled interventions on the regime fragility exposed by
walk-forward CV (mean Sharpe +27 ± 56 at half-tick across 3 folds —
std-dev ≈ mean means the strategy is regime-dependent).
(1) Vol-EMA regime detector (new ISV slots 549/550)
- New alpha_regime_vol_update.cu kernel: per inference step, reads B
parallel-env mid prices, computes cross-env mean squared log-return,
and maintains ISV[549]=REGIME_VOL_EMA (Wiener-α with 0.4 floor +
Pearl A bootstrap) and ISV[550]=REGIME_VOL_REF (slow tracker β=0.005,
≈200-step horizon).
- Block-tree-reduce (no atomicAdd), guards against zero/non-finite mids.
(2) Pre-emptive Kelly attenuation (modified stacker controller)
- stacker_threshold_controller.cu takes 3 new args: regime_vol_ema_idx,
regime_vol_ref_idx, regime_scale_floor.
- Multiplies its reactive Sharpe-error Kelly output by
regime_scale = clamp(vol_ref / vol_ema, 0.25, 1.0)
- Disabled when indices = -1 (backward-compatible smoke + kernel test).
(3) Cost-aware training (--train-cost-hi)
- alpha_compose_backtest --train-cost-hi: when > --train-cost, each
training epoch samples cost ~ U[lo, hi] so the Q-network learns
cost-conservative behaviour across the realistic ES range.
(4) Wiring
- alpha_compose_backtest --regime-scale enables both per-step regime
kernel firing during eval AND the regime hookup in the per-episode
controller call. Mapped-pinned mids buffers, all compute device-side.
- ExecutionEnv exposes current_mid() so the host gather reads the
active snapshot mid per env without leaking the private cursor field.
Smoke + test sites pass -1/-1 for regime indices (backward compat).
Doc: docs/isv-slots.md ledger for slots 549/550.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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3aef276255 |
feat(phase-e-4-a): walk-forward CV via --data-start-offset
Adds a sliding-window walk-forward harness for the T10 backtest:
- New load_snapshots_from_fxcache_at(start_offset, ...) loader variant
reads bars [start_offset..start_offset+max_snapshots) from the fxcache.
Alpha-cache lookups use absolute bar indices, so the same
alpha_logits_cache.bin works across folds.
- New --data-start-offset CLI flag on alpha_compose_backtest.
- scripts/walk_forward_cv.sh runs 3 folds (window=700K, train_frac=0.6)
at offsets 0 / 600K / 1.2M, producing /tmp/cv_fold_{A,B,C}.json plus
an aggregated mean±stddev Sharpe table across folds.
Walk-forward result (alpha_logits_cache trained on bars 0..1.57M, so
fold C eval is fully past the stacker cut):
cost fold-A fold-B fold-C mean ± stddev
0.0000 +91.52 -21.44 +46.74 +38.94 ± 56.88
0.0625 +84.94 -27.97 +38.42 +31.79 ± 56.74
0.1250 +79.91 -31.22 +33.51 +27.40 ± 55.82
0.2500 +72.77 -45.41 +15.16 +14.17 ± 59.09
0.5000 +50.52 -59.82 -12.75 -7.35 ± 55.37
Fold B (mid-quarter, bars 600K..1.3M) is a disaster — win rate
collapses to 0-22% across all costs. Folds A and C succeed strongly.
Cross-fold SD ≈ mean, so the policy is regime-dependent and cannot
be reliably deployed without regime detection.
Mean Sharpe at half-tick (+27.40) is still ~7× the stateless
Phase 1d.4 baseline (-4.0), so the temporal encoder adds real value
on average — but the single-window +62 OOS celebrated earlier was
a cherry-picked favorable regime, not a deployment-ready result.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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3dc022b843 |
feat(phase-e-4-a): T10 Mamba2 backward chain + KC calibration
T10 wires the C51 → Mamba2 backward chain in both binaries:
- New alpha_train_window_store_batched_kernel captures per-step windows
for end-of-epoch re-forward (Mamba2 cache required for backward).
- Mamba2Block::backward_from_h_enriched lets the C51 grad-input feed
directly into Mamba2 backward, skipping the unused W_out projection.
- alpha_c51_grad_input → backward_from_h_enriched → Mamba2AdamW.step
closes the loop in alpha_dqn_h600_smoke and alpha_compose_backtest.
Smoke (--temporal --c51): all 4 KCs PASS. R_mean -6.3 → +4.2 vs
Phase E.3 close R_mean -4.7 (no-temporal). EARLY_Q_MOVEMENT
calibration (mamba2_snapshot + mamba2_weight_distance) lifts the
diagnostic from 0.0023 (head-only) to 0.0590 (head + encoder),
giving an honest learning signal when the encoder absorbs gradient.
Backtest (--c51 --temporal --window-k 16 --isv-continual):
cost=0.0000 best τ=0.250 Sharpe_ann=+34.56 (was +10.41 head-only,
-22.54 frozen-Mamba2)
cost=0.0625 best τ=0.250 Sharpe_ann=+33.22
cost=0.1250 best τ=0.250 Sharpe_ann=+30.85 (Phase 1d.4 baseline: -4.0)
cost=0.2500 best τ=0.250 Sharpe_ann=+27.73
cost=0.5000 best τ=0.250 Sharpe_ann=+15.68
Caveat: in-sample results; OOS gate next.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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0ab54dc8ef |
feat(phase-e-4-a): batched parallel-env TRAINING (greenfield)
T15: training rewrite mirroring T14 eval. N_par parallel envs lockstep H steps per epoch; ONE batched C51 update at B = N_par * H. Expected ~15× speedup vs sequential. - NEW kernel alpha_h_enriched_store_batched_kernel for batched h_enriched slot writes - Training section greenfielded: legacy sequential loop deleted - CLI flag --n-train-par (default 50) - Terminal next-state slot zeroed; done=1 at horizon masks Q_next contribution in Bellman projection — no terminal Mamba2 forward - docs/isv-slots.md updated per kernel-audit-doc hook Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com> |
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90c9d54454 |
feat(phase-e-4-a): batched parallel-env eval rewrite (greenfield)
The Phase E.4.A T14 backtest at B=1 with per-step stream.synchronize()
was running ~150μs/step × 9M steps = ~22 min — dominated by sync
overhead, not GPU compute. RTX 3050 Ti to L40S swap wouldn't help
(launch overhead is the bottleneck, not FLOPS).
Solution: batched parallel envs. N=cli.n_eval_episodes environments
run in LOCKSTEP per cell — ONE sync per step (instead of N syncs).
Expected ~30× speedup at N=500.
Changes:
1. ExecutionEnv snapshots → Arc<Vec<SnapshotRow>>
- new() wraps Vec into Arc internally (backward compat)
- new_arc() takes pre-existing Arc (for parallel envs)
- snapshots_arc() accessor for snapshot sharing
- 50MB × N memory duplication avoided
2. alpha_window_push_batched_kernel (NEW CUDA)
- Same chronological shift+insert semantics as single-env kernel
- Grid (state_dim_blocks, B, 1): one thread per (batch, feature)
- launcher: launch_alpha_window_push_batched
3. MappedI32 (per-binary) gains len param + read_all()
- smoke & backtest pass len=1 for existing single-int use
- backtest passes len=N for batched action readback
4. backtest binary eval loop GREENFIELDED
- Legacy sequential 'for ep in 0..N { for step in ... }' loop
body deleted entirely
- New: 'for step in 0..horizon' outer, lockstep over N envs
- Build N envs sharing snapshots_arc at cell start
- Per step: gather N states (CPU loop, <100μs for N=500) →
write to mapped-pinned [N, STATE_DIM] → push kernel B=N →
Mamba2 batched forward → C51 batched forward → Thompson
batched → ONE sync → read N actions → step N envs on CPU
- ISV-continual moved from per-episode to per-cell (single fire
with aggregate stats)
5. docs/isv-slots.md updated per kernel-audit hook
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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2feeeda8bb |
fix(phase-e-4-a): GPU kernel for h_enriched slot copy — eliminate per-step CPU roundtrip
The Phase E.4.A T8 wiring stored Mamba2's per-step cache.h_enriched
into h_enriched_buf_dev via a dtoh+htod sequence:
let h_host = stream.clone_dtoh(cache.h_enriched.cuda_data())?;
let mut buf_host = stream.clone_dtoh(&h_enriched_buf_dev)?; // <- whole buffer
for j in 0..hidden_dim { buf_host[slot_offset + j] = h_host[j]; }
stream.memcpy_htod(&buf_host, &mut h_enriched_buf_dev)?; // <- whole buffer
This violates feedback_cpu_is_read_only AND
feedback_no_htod_htoh_only_mapped_pinned. Worse, the buffer-wide
dtoh+htod every step is ~20K floats × 600 steps × 500 eps × 30 cells
= ~9M roundtrips totaling significant PCIe latency in the backtest.
Fix: new tiny CUDA kernel alpha_h_enriched_store_kernel in
alpha_window_push.cu (one thread per hidden-dim feature, writes
src[j] → buf[slot_offset + j]). Replaces the dtoh/htod sequence
in both smoke and backtest binaries.
Estimated speed-up at backtest scale: 3-6× on the temporal eval
path. Pure-GPU per-step inference restored — no synchronisation
points on the hot path.
docs/isv-slots.md updated per kernel-audit-doc hook.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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4d65ace625 |
feat(phase-e-4-a): mirror --temporal in backtest binary + T11 ISV-continual
Phase E.4.A Tasks 11+12: backtest binary gains the same
--temporal Mamba2 forward chain as the smoke binary, plus the
--isv-continual flag that fires the stacker-threshold controller
at the end of each eval episode (Pillar B).
Changes:
- Imports: ml_alpha::mamba2_block::{Mamba2Block, Mamba2BlockConfig},
ml_core::cuda_autograd::gpu_tensor::GpuTensor
- CLI flags: --temporal, --window-k, --mamba2-hidden-dim,
--mamba2-state-dim, --isv-continual
- Cubin loading: alpha_window_push + stacker_threshold_controller
- Q-net sizing: c51_input_dim = mamba2_hidden_dim when --c51 --temporal
- Buffers: window_tensor GpuTensor, h_enriched_buf_dev, isv_dev,
ctl_wiener_dev
- Training inference path: push + Mamba2 forward + h_enriched →
C51 forward (mirrors smoke binary)
- Training batched compute: terminal Mamba2 forward, h_enriched_buf
for current/next, c51_input_dim threading
- Eval inference path: push + Mamba2 forward + h_enriched → C51
forward + Thompson select (with scoped borrow guard)
- T11 ISV-continual: stacker-threshold controller fires at end of
each eval episode; ISV slot 543 (threshold), 545 (observed-rate),
546 (Kelly atten) update with realized rollout stats. Co-exists
with the τ-grid sweep (τ-grid still gates; ISV updates parallel
observation of "live deployment" behaviour).
- JSON output: new fields temporal, window_k, mamba2_hidden_dim,
mamba2_state_dim, isv_continual.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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5d7d4fa3c6 |
feat(phase-e-4-a): add mbp10_dir param to fxcache loader (signature-only)
Phase E.4.A Task 4: extend load_snapshots_from_fxcache with `mbp10_dir: Option<&Path>`. When provided, the loader will peek MBP-10 by timestamp and populate SnapshotRow.bid_l[1..10]/ask_l[1..10] from real LOB depth — but the real-peek implementation lands in Task 5 follow-on. This commit: - introduces the parameter (callers pass None) - warns at runtime if mbp10_dir Some until T5 lands - enables downstream wiring of --use-real-depth + --mbp10-dir CLI flags in the smoke / backtest binaries T5 deferred: on ES futures the --real-spread experiment showed 76% of fxcache bars hit the 1-tick floor, so depth-from-MBP-10 likely won't move the needle for ES. Higher-leverage work (Mamba2 wiring) prioritised. T5 implementation reopens as a follow-on if E.4.A gates pass with synthesised depth. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com> |
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eb49e2a0f7 |
feat(alpha): Phase E.3 follow-up — C51 distributional Q + Thompson + L1-L10 depth + falsifications
C51 distributional Q-network with GPU Thompson selection borrowed
minimally from production (alpha_c51.cu: forward, project, grad,
expected_q, thompson_select kernels; ~260 lines). Uses Huber
negative-tail compression in projection per production
block_bellman_project_f. Action selection 100% GPU via mapped-pinned
i32 output + __threadfence_system + host volatile read (matches
gpu_training_guard MappedBuffer pattern).
Backtest result (2D sweep, 500 episodes per cell, 30 cells):
cost=0 C51 +10.41 vs linear-Q -15.72 (+26pt, BEATS Phase 1d.4
no-RL baseline +4.4 by 6pt)
cost=0.125 C51 -13.81 vs -29.17 (+15pt closes half-tick gap)
Win rate at cost=0 best τ: linear-Q 0.008 → C51 0.552.
Calibration hypothesis vindicated; documented in
memory/pearl_c51_thompson_closed_phase_e3_gap.md.
Also in this commit (Phase E.3 follow-up cleanup):
- --pruned-actions falsified (2.4× worse Sharpe). Documented in
memory/pearl_action_pruning_falsified.md.
- --real-spread falsified for ES futures (76% of bars at 1-tick floor).
- SnapshotRow bid_l/ask_l extended from [f32; 3] to [f32; 10].
L4-L10 synthesized in this commit; real MBP-10 peek lands in E.4.A T5.
- docs/isv-slots.md updated per kernel-audit-doc hook requirement.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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771936b768 |
feat(alpha): --train-threshold for backtest + Phase E.3 honest verdict
Phase E.3 follow-up. Adds --train-threshold to alpha_compose_backtest so
the Q-network can be trained against a FIXED gate (instead of just
applying the gate at eval). Default 0.39 = the equilibrium the smoke's
controller stabilized to at ep 200+ (alpha_dqn_h600_smoke gated run).
Smoke result (gated training, controller running):
ep 100: thresh=0.32 obs=0.226 R_mean=-5.5 atten=0.75
ep 200: thresh=0.38 obs=0.082 R_mean=-3.0 atten=0.50
ep 300: thresh=0.39 obs=0.081 R_mean=-3.2 atten=0.25
ep 1000: thresh=0.39 obs=0.039 R_mean=-4.7 atten=0.10
The controller CONVERGES cleanly to threshold ≈ 0.39 with observed
trade rate at/below the 0.08 target. rollout_R_mean drops from -19
(no-gate training) to -4.7 (gated training): 4× less loss per episode.
rvr stays at +1.045σ (unchanged). The closed-loop architecture works
end to end.
(Note: smoke verdict FAILs on ACTION_ENTROPY (0.68 < threshold 1.10).
This is the policy correctly Waiting 95%+ of the time — the kill
criterion was designed to catch "collapse to one bad action," but
collapse-to-Wait under a strong gate is the RIGHT behavior. Verdict
threshold is misaligned with the gated paradigm; not a regression.)
Backtest result with --train-threshold 0.39:
cost eval-gate only train+eval gated Δ
------ -------------- ---------------- ----
0.0000 -15.72 -17.06 -1.3
0.0625 -21.30 -22.91 -1.6
0.1250 -29.17 -31.26 -2.1
0.2500 -42.12 -36.68 +5.4
0.5000 -54.86 -53.83 +1.0
Training with the gate did NOT meaningfully improve absolute Sharpe.
The eval-best threshold remains 0.20-0.25 in BOTH runs (not 0.39).
The Q-network's primary contribution is the binary trade/don't-trade
decision; the action-choice (Buy direction + placement) is largely
determined by alpha sign — linear Q can't time entry better than the
threshold filter does on its own.
Honest analysis: the gap to Phase 1d.4 baseline (+4.4 at cost=0,
-4.0 at half-tick) is NOT architectural but ECONOMIC:
Env spread: bid/ask synthesized at ±0.125-tick around mid
→ round-trip spread cost = 0.25 per trade
At τ=0.20 with 168 trades/ep: 168 × 0.25 = 42 in spread costs
Mean reward = -5 → alpha extracts ~37 of value
All eaten by spread
Phase 1d.4 baseline likely trades much less (~20-50 trades/ep at best
operating point — pure threshold-only policy, no RL). Our policy
trades 3-8× more because the DQN's action choices add fine-grained
trade attempts beyond the threshold filter's wait/trade gate.
The control loop architecture (Phase E.1 + E.2 + E.3 gate consumption)
is VALIDATED — gate produces monotone Sharpe lift, +1.045σ rvr held,
trade-rate-self-correction converges cleanly. But beating Phase 1d.4's
absolute Sharpe requires:
1. MLP for the Q-network (more representation capacity for
entry-timing decisions within the alpha confidence band)
2. OR action-space constraints (collapse the 9-action space — drop
fine-grained L1/L2 placement, keep just {Wait, BuyMarket,
SellMarket, FlatMarket})
3. OR better fill economics (real LOB instead of fixed ±0.125-tick
synthesis)
These are Milestone E.3 follow-up work (Tasks 24-28 sweeps + future
architectural changes). The composition backtest validated what it
was designed to: the cost-edge frontier of the linear Q + Phase 1d.3
alpha + controller setup, and surfaced the next architectural
question (representation capacity vs action-space size vs fill
realism).
Branch: sp20-aux-h-fixed, pushed.
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a36ad53a57 |
feat(alpha): wire slot 543 consumption — 2D threshold × cost sweep
Phase E.3 Task 23 follow-up. Adds the confidence-threshold gate that
consumes the controller's ISV[543] output. Both binaries:
fn epsilon_greedy_gated(q, alpha_confidence, threshold, eps, rng) -> u8 {
if alpha_confidence < threshold { return 0; /* Wait */ }
epsilon_greedy(q, eps, rng)
}
State[1] is the env's alpha_confidence = |sigmoid(alpha_logit) - 0.5|
which is in [0, 0.5]; threshold is also clamped [0, 0.5], so direct
comparison is valid.
alpha_dqn_h600_smoke (closed-loop with controller):
Adds current_threshold: f32 cache, initialised to 0.0 (no gate),
refreshed via stream.clone_dtoh(&isv_dev) after each per-episode
controller invocation. Action selector reads current_threshold for
the NEXT episode's step decisions.
alpha_compose_backtest (2D sweep):
Adds --threshold-grid CLI flag (default [0.0, 0.05, 0.10, 0.15, 0.20,
0.25] — Phase 1d.4 pattern). Eval loop becomes 2D (threshold × cost).
Per-bin includes avg_n_trades for trade-rate visibility. End-of-run
prints BEST per-cost = max Sharpe_ann across τ.
Results (1000 train ep, 300 eval ep × 5 τ × 5 costs):
cost τ=0.00 best τ Sharpe lift trades/ep saved
------- ---------- --------- ----------- ---------------
0.0000 -41.78 -15.72 (τ=0.20) +26.1 477 → 168 (-65%)
0.0625 -71.46 -21.30 (τ=0.25) +50.2 476 → 138 (-71%)
0.1250 -86.78 -29.17 (τ=0.20) +57.6 482 → 167 (-65%)
0.2500 -108.57 -42.12 (τ=0.25) +66.5 480 → 132 (-73%)
0.5000 -146.76 -54.86 (τ=0.25) +91.9 478 → 136 (-72%)
Win rate at cost=0: 7.7% (no gate) → 20.3% (τ=0.20).
The gate architecture is VALIDATED: monotone improvement in win rate +
Sharpe + trade-rate reduction across all costs. The control loop
(controller → slot 543 → policy gate → observed rate feedback) is
sound. But the policy is STILL negative-Sharpe at every cost.
Phase 1d.4 baseline at half-tick: -4.0 (ours: -29.17). 25-pt gap.
Root cause of the remaining gap: the Q-network was TRAINED without
gate awareness. It learned Q-values for the over-trading regime. The
eval-only gate filters those decisions but can't fix miscalibrated
Q-values. Phase 1d.4 baseline beats us because its policy
(always-market-when-confident) is INHERENTLY gated by design — no
mismatched Q-values to fix.
Next iteration to close the 25-pt gap: train WITH gate on, so the
Q-network learns weights for the gated policy class. This means:
either (a) controller runs during training (smoke pattern) and the
threshold develops endogenously, or (b) fixed --train-threshold CLI
during training. Either way, the Q-network sees Wait-at-low-confidence
during the learning phase and adapts.
Files touched:
crates/ml/examples/alpha_dqn_h600_smoke.rs (gate + threshold cache)
crates/ml/examples/alpha_compose_backtest.rs (gate + 2D sweep)
config/ml/alpha_compose_backtest.json (2D verdict)
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2af8e02fd8 |
feat(alpha): Phase E.3 composition backtest — reveals slot 543 needs consumption
Phase E.3 Task 23. Trains the Phase E execution-policy DQN on the first
80% of fxcache snapshots, then evaluates the frozen policy (ε=0) on the
held-out 20% across a transaction-cost sweep. Compares absolute Sharpe
vs the Phase 1d.4 always-market-when-confident baseline.
Pipeline pieces:
- Shared loaders extracted into crates/ml/src/env/loaders.rs (used by
both alpha_dqn_h600_smoke and alpha_compose_backtest)
- alpha_compose_backtest.rs: train DQN on first n_train bars, then
frozen-eval n_eval episodes per cost level
- cost grid: [0.0, 0.0625, 0.125, 0.25, 0.5] (price units per
contract round-turn)
- Annualised Sharpe via per-episode Sharpe × sqrt(episodes/year)
where episodes/year ≈ 252 · 6.5h · 3600s / (horizon · 12s)
Run (horizon=600, 1000 train ep, 500 eval ep/cost, 1.5M snapshots):
cost n_ep mean_R std_R Sharpe/ep Sharpe_ann win_rate
0.0000 500 -11.09 8.03 -1.380 -39.50 0.090
0.0625 500 -20.68 9.88 -2.093 -59.89 0.012
0.1250 500 -29.38 9.49 -3.095 -88.58 0.000
0.2500 500 -48.23 11.90 -4.052 -115.98 0.000
0.5000 500 -84.59 17.43 -4.854 -138.92 0.000
Phase 1d.4 baseline for comparison: +4.4 ann. at cost=0, -4.0 at half-tick.
The Phase E policy LOSES MONEY across the whole cost grid — even at
frictionless cost=0. This is not a contradiction with the H=600 PASS
verdict (rvr=+1.04σ): the smoke's rvr is RELATIVE TO RANDOM, while
backtest Sharpe is ABSOLUTE. "Better than random by 1 std" is still
losing if random loses big.
The diagnostic that the E.2 controller already surfaced:
ISV[543] STACKER_THRESHOLD saturated at upper clamp (0.5) — policy
trades 85% of the time vs the 8% target. Over-trading pays spread on
every bar regardless of alpha confidence. Even with perfect alpha
(Phase 1d.3 AUC=0.673), trading 85% × spread cost > alpha edge.
The Phase 1d.4 baseline beats us at cost=0 because it WAITS unless
|stacker_logit| > threshold — the threshold gate filters bars with
weak alpha signal. The Phase E controller PRODUCES slot 543 but the
DQN's action selection doesn't CONSUME it.
This is exactly what the E.3 backtest is FOR: revealing that the
Phase E.1/E.2 producer-side architecture without consumer-side gating
is incomplete. The composition backtest validates the architecture's
weak link.
NEXT (E.3 task 24-28 or a side fix): wire slot 543 consumption into
the action selection. At each step:
if |ISV[543] − 0.5| > |stacker_logit − 0.5|:
action = Wait // confidence below threshold, sit out
else:
action = argmax(Q)
Or equivalently: action = if confidence_high(alpha_logit, ISV[543])
{ argmax(Q) over Buy/Sell actions } else { Wait }.
Once slot 543 is consumed, re-run alpha_compose_backtest and expect
Sharpe to move toward / past the Phase 1d.4 baseline.
Loader refactor: extracted load_fill_model_from_json, load_alpha_cache,
load_snapshots_from_fxcache from alpha_dqn_h600_smoke.rs into
crates/ml/src/env/loaders.rs. The smoke now calls the shared module
via ml::env::loaders::*. ~150 lines of duplicated code removed.
Build + run verified: smoke still builds clean. Backtest runs in ~30s
(train 8s + eval 20s + setup).
Branch: sp20-aux-h-fixed, pushed.
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