| { |
| "adoption": { |
| "decision": "Do not promote runtime change", |
| "eligible_under_predeclared_rule": false, |
| "paired_lower_mean": [ |
| { |
| "pair": 0, |
| "step_cpu": true, |
| "step_wall": true |
| }, |
| { |
| "pair": 1, |
| "step_cpu": true, |
| "step_wall": true |
| } |
| ], |
| "pooled": { |
| "step_cpu": { |
| "candidate_mean_reduction_percent": 12.599688117239072, |
| "mean_s": { |
| "baseline": 0.0014383610000000013, |
| "candidate": 0.001257132 |
| } |
| }, |
| "step_wall": { |
| "candidate_mean_reduction_percent": 15.69721381493122, |
| "mean_s": { |
| "baseline": 0.0015054188838694244, |
| "candidate": 0.0012691100628580898 |
| } |
| } |
| }, |
| "rule": { |
| "minimum_pooled_mean_reduction_percent_each_clock": 5.0, |
| "on_failure": "Do not promote; retain as negative or inconclusive. No post-result tuning.", |
| "required_exact_equivalence": true, |
| "required_lower_candidate_mean_each_pair": [ |
| "step_wall", |
| "step_cpu" |
| ] |
| } |
| }, |
| "all_passed": false, |
| "attempts": [ |
| { |
| "case": "original", |
| "id": "timing-00-baseline", |
| "mode": "timing", |
| "returncode": 0, |
| "subprocess_wall_s": 2.420006916858256, |
| "variant": "baseline" |
| }, |
| { |
| "case": "original", |
| "id": "timing-01-candidate", |
| "mode": "timing", |
| "returncode": 0, |
| "subprocess_wall_s": 2.0803113747388124, |
| "variant": "candidate" |
| }, |
| { |
| "case": "original", |
| "id": "timing-02-candidate", |
| "mode": "timing", |
| "returncode": 0, |
| "subprocess_wall_s": 2.0139063335955143, |
| "variant": "candidate" |
| }, |
| { |
| "case": "original", |
| "id": "timing-03-baseline", |
| "mode": "timing", |
| "returncode": 0, |
| "subprocess_wall_s": 2.4118966250680387, |
| "variant": "baseline" |
| }, |
| { |
| "case": "original", |
| "id": "dense-original-baseline", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 6.503215416800231, |
| "variant": "baseline" |
| }, |
| { |
| "case": "original", |
| "id": "dense-original-candidate", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 6.568463541567326, |
| "variant": "candidate" |
| }, |
| { |
| "case": "open-jaw", |
| "id": "dense-open-jaw-baseline", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 5.4805178749375045, |
| "variant": "baseline" |
| }, |
| { |
| "case": "open-jaw", |
| "id": "dense-open-jaw-candidate", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 6.379173707682639, |
| "variant": "candidate" |
| }, |
| { |
| "case": "hold", |
| "id": "dense-hold-baseline", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 5.533948041964322, |
| "variant": "baseline" |
| }, |
| { |
| "case": "hold", |
| "id": "dense-hold-candidate", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 5.328347083181143, |
| "variant": "candidate" |
| }, |
| { |
| "case": "feedback-no-pulse", |
| "id": "dense-feedback-no-pulse-baseline", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 7.0851437500678, |
| "variant": "baseline" |
| }, |
| { |
| "case": "feedback-no-pulse", |
| "id": "dense-feedback-no-pulse-candidate", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 7.633159082848579, |
| "variant": "candidate" |
| }, |
| { |
| "case": "feedback-pulse", |
| "id": "dense-feedback-pulse-baseline", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 7.811261875089258, |
| "variant": "baseline" |
| }, |
| { |
| "case": "feedback-pulse", |
| "id": "dense-feedback-pulse-candidate", |
| "mode": "diagnostic", |
| "returncode": 0, |
| "subprocess_wall_s": 8.18520720815286, |
| "variant": "candidate" |
| } |
| ], |
| "comparisons": [ |
| { |
| "both_complete": true, |
| "exact_match": true, |
| "kind": "timing-pair", |
| "pair": 0, |
| "same_assets": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "bytes_verified", |
| "commit", |
| "files_verified", |
| "lock_sha256", |
| "profile", |
| "repository", |
| "simulation_asset_license" |
| ] |
| }, |
| "same_boundaries": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "config", |
| "seed", |
| "valid", |
| "success", |
| "reason", |
| "error", |
| "simulated_seconds", |
| "initial_object_position_m", |
| "compiled_model_sha256", |
| "trajectory", |
| "actions", |
| "metrics" |
| ] |
| }, |
| "same_model": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "dimensions", |
| "native_bias", |
| "native_control_limits", |
| "native_force_limits", |
| "native_gains", |
| "sha256", |
| "timestep_s" |
| ] |
| }, |
| "same_runtime": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "machine", |
| "mujoco", |
| "numpy", |
| "python", |
| "system" |
| ] |
| }, |
| "same_score": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "native_metrics_source", |
| "native_outcome_success", |
| "native_outcome_valid", |
| "reason", |
| "reference_xy_m", |
| "required_dwell_s", |
| "required_lift_dwell_s", |
| "sample_interval_s", |
| "success", |
| "terminal_dwell_s", |
| "terminal_reference_success", |
| "terminal_xy_error_m", |
| "trace_lift_dwell_s", |
| "trajectory_complete" |
| ] |
| } |
| }, |
| { |
| "both_complete": true, |
| "exact_match": true, |
| "kind": "timing-pair", |
| "pair": 1, |
| "same_assets": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "bytes_verified", |
| "commit", |
| "files_verified", |
| "lock_sha256", |
| "profile", |
| "repository", |
| "simulation_asset_license" |
| ] |
| }, |
| "same_boundaries": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "config", |
| "seed", |
| "valid", |
| "success", |
| "reason", |
| "error", |
| "simulated_seconds", |
| "initial_object_position_m", |
| "compiled_model_sha256", |
| "trajectory", |
| "actions", |
| "metrics" |
| ] |
| }, |
| "same_model": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "dimensions", |
| "native_bias", |
| "native_control_limits", |
| "native_force_limits", |
| "native_gains", |
| "sha256", |
| "timestep_s" |
| ] |
| }, |
| "same_runtime": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "machine", |
| "mujoco", |
| "numpy", |
| "python", |
| "system" |
| ] |
| }, |
| "same_score": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "native_metrics_source", |
| "native_outcome_success", |
| "native_outcome_valid", |
| "reason", |
| "reference_xy_m", |
| "required_dwell_s", |
| "required_lift_dwell_s", |
| "sample_interval_s", |
| "success", |
| "terminal_dwell_s", |
| "terminal_reference_success", |
| "terminal_xy_error_m", |
| "trace_lift_dwell_s", |
| "trajectory_complete" |
| ] |
| } |
| }, |
| { |
| "case": "original", |
| "error": "ValueError: Expanded document exceeds bound", |
| "exact_match": false, |
| "kind": "dense-equivalence" |
| }, |
| { |
| "both_complete": true, |
| "case": "open-jaw", |
| "complete_native_cadence": true, |
| "exact_match": true, |
| "kind": "dense-equivalence", |
| "same_assets": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "bytes_verified", |
| "commit", |
| "files_verified", |
| "lock_sha256", |
| "profile", |
| "repository", |
| "simulation_asset_license" |
| ] |
| }, |
| "same_boundaries": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "config", |
| "seed", |
| "valid", |
| "success", |
| "reason", |
| "error", |
| "simulated_seconds", |
| "initial_object_position_m", |
| "compiled_model_sha256", |
| "trajectory", |
| "actions", |
| "metrics" |
| ] |
| }, |
| "same_model": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "dimensions", |
| "native_bias", |
| "native_control_limits", |
| "native_force_limits", |
| "native_gains", |
| "sha256", |
| "timestep_s" |
| ] |
| }, |
| "same_native_arrays": { |
| "differences": [], |
| "exact_match": true |
| }, |
| "same_native_contacts_scorer": { |
| "baseline_rows": 20001, |
| "candidate_rows": 20001, |
| "exact_match": true, |
| "first_different_row": null |
| }, |
| "same_runtime": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "machine", |
| "mujoco", |
| "numpy", |
| "python", |
| "system" |
| ] |
| }, |
| "same_score": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "native_metrics_source", |
| "native_outcome_success", |
| "native_outcome_valid", |
| "reason", |
| "reference_xy_m", |
| "required_dwell_s", |
| "required_lift_dwell_s", |
| "sample_interval_s", |
| "success", |
| "terminal_dwell_s", |
| "terminal_reference_success", |
| "terminal_xy_error_m", |
| "trace_lift_dwell_s", |
| "trajectory_complete" |
| ] |
| } |
| }, |
| { |
| "both_complete": true, |
| "case": "hold", |
| "complete_native_cadence": true, |
| "exact_match": true, |
| "kind": "dense-equivalence", |
| "same_assets": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "bytes_verified", |
| "commit", |
| "files_verified", |
| "lock_sha256", |
| "profile", |
| "repository", |
| "simulation_asset_license" |
| ] |
| }, |
| "same_boundaries": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "config", |
| "seed", |
| "valid", |
| "success", |
| "reason", |
| "error", |
| "simulated_seconds", |
| "initial_object_position_m", |
| "compiled_model_sha256", |
| "trajectory", |
| "actions", |
| "metrics" |
| ] |
| }, |
| "same_model": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "dimensions", |
| "native_bias", |
| "native_control_limits", |
| "native_force_limits", |
| "native_gains", |
| "sha256", |
| "timestep_s" |
| ] |
| }, |
| "same_native_arrays": { |
| "differences": [], |
| "exact_match": true |
| }, |
| "same_native_contacts_scorer": { |
| "baseline_rows": 20001, |
| "candidate_rows": 20001, |
| "exact_match": true, |
| "first_different_row": null |
| }, |
| "same_runtime": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "machine", |
| "mujoco", |
| "numpy", |
| "python", |
| "system" |
| ] |
| }, |
| "same_score": { |
| "different_fields": [], |
| "exact_match": true, |
| "fields_compared": [ |
| "native_metrics_source", |
| "native_outcome_success", |
| "native_outcome_valid", |
| "reason", |
| "reference_xy_m", |
| "required_dwell_s", |
| "required_lift_dwell_s", |
| "sample_interval_s", |
| "success", |
| "terminal_dwell_s", |
| "terminal_reference_success", |
| "terminal_xy_error_m", |
| "trace_lift_dwell_s", |
| "trajectory_complete" |
| ] |
| } |
| }, |
| { |
| "case": "feedback-no-pulse", |
| "error": "ValueError: Expanded document exceeds bound", |
| "exact_match": false, |
| "kind": "dense-equivalence" |
| }, |
| { |
| "case": "feedback-pulse", |
| "error": "ValueError: Expanded document exceeds bound", |
| "exact_match": false, |
| "kind": "dense-equivalence" |
| } |
| ], |
| "interpretation": "These unpaced shared-host CPU samples compare one unchanged synthetic command tape. No inference time is included. Do not infer new task accuracy, hardware response, minimum hardware or real-time safety. Report every paired result; two pairs cannot establish robust population speedup.", |
| "paired_timing": [ |
| { |
| "baseline_sum_s": 1.4684963417239487, |
| "candidate_p95_reduction_percent": 25.79315547361659, |
| "candidate_sum_s": 1.2328931200318038, |
| "candidate_total_step_reduction_percent": 16.043841240731815, |
| "pair": 0 |
| }, |
| { |
| "baseline_sum_s": 1.5423414260149002, |
| "candidate_p95_reduction_percent": 23.795316993807734, |
| "candidate_sum_s": 1.3053270056843758, |
| "candidate_total_step_reduction_percent": 15.367182410636659, |
| "pair": 1 |
| } |
| ], |
| "planned_attempts": 14, |
| "protocol_sha256": "386c34e8201a86dbe81709805b7c0d47ec4c257120023514153cc4df652f5184", |
| "schema": "dvidia.piper-control-comparison/v1", |
| "scope": "One previously checked synthetic PiPER scenario, preserved commands and privileged native simulator state. Allocation-only source comparison, not new skill training, held-out success, hardware latency, calibrated contact or a real-time guarantee.", |
| "source_unchanged": true, |
| "timing_runs": [ |
| { |
| "id": "timing-00-baseline", |
| "setup_reset_wall_s": 0.367916792165488, |
| "status": "complete", |
| "step_cpu": { |
| "count": 1000, |
| "max_s": 0.012059000000000042, |
| "mean_s": 0.0014127509999999999, |
| "over_nominal_20ms": 0, |
| "p50_s": 0.0011879999999999669, |
| "p95_s": 0.002274649999999988, |
| "p99_s": 0.002799599999999997, |
| "sum_s": 1.4127509999999999 |
| }, |
| "step_wall": { |
| "count": 1000, |
| "max_s": 0.012310583610087633, |
| "mean_s": 0.0014684963417239487, |
| "over_nominal_20ms": 0, |
| "p50_s": 0.0012011665385216475, |
| "p95_s": 0.002542358636856079, |
| "p99_s": 0.003286311766132712, |
| "sum_s": 1.4684963417239487 |
| }, |
| "variant": "baseline" |
| }, |
| { |
| "id": "timing-01-candidate", |
| "setup_reset_wall_s": 0.28948104102164507, |
| "status": "complete", |
| "step_cpu": { |
| "count": 1000, |
| "max_s": 0.008727999999999847, |
| "mean_s": 0.0012205139999999996, |
| "over_nominal_20ms": 0, |
| "p50_s": 0.0010654999999999415, |
| "p95_s": 0.0018321999999998393, |
| "p99_s": 0.0024473500000000855, |
| "sum_s": 1.2205139999999997 |
| }, |
| "step_wall": { |
| "count": 1000, |
| "max_s": 0.010767832864075899, |
| "mean_s": 0.0012328931200318038, |
| "over_nominal_20ms": 0, |
| "p50_s": 0.0010669578332453966, |
| "p95_s": 0.001886604120954871, |
| "p99_s": 0.0025030286889523266, |
| "sum_s": 1.2328931200318038 |
| }, |
| "variant": "candidate" |
| }, |
| { |
| "id": "timing-02-candidate", |
| "setup_reset_wall_s": 0.25960616674274206, |
| "status": "complete", |
| "step_cpu": { |
| "count": 1000, |
| "max_s": 0.00799099999999986, |
| "mean_s": 0.0012937500000000002, |
| "over_nominal_20ms": 0, |
| "p50_s": 0.001134999999999775, |
| "p95_s": 0.001920649999999912, |
| "p99_s": 0.0027079999999999327, |
| "sum_s": 1.2937500000000002 |
| }, |
| "step_wall": { |
| "count": 1000, |
| "max_s": 0.008000124711543322, |
| "mean_s": 0.0013053270056843757, |
| "over_nominal_20ms": 0, |
| "p50_s": 0.0011370624415576458, |
| "p95_s": 0.0019861731911078096, |
| "p99_s": 0.00277163659222424, |
| "sum_s": 1.3053270056843758 |
| }, |
| "variant": "candidate" |
| }, |
| { |
| "id": "timing-03-baseline", |
| "setup_reset_wall_s": 0.3268076251260936, |
| "status": "complete", |
| "step_cpu": { |
| "count": 1000, |
| "max_s": 0.018218000000000067, |
| "mean_s": 0.001463971000000003, |
| "over_nominal_20ms": 0, |
| "p50_s": 0.0012210000000000276, |
| "p95_s": 0.002330100000000157, |
| "p99_s": 0.0029761600000003073, |
| "sum_s": 1.463971000000003 |
| }, |
| "step_wall": { |
| "count": 1000, |
| "max_s": 0.02005712501704693, |
| "mean_s": 0.0015423414260149002, |
| "over_nominal_20ms": 1, |
| "p50_s": 0.001237792195752263, |
| "p95_s": 0.0026063663186505436, |
| "p99_s": 0.003594016665592789, |
| "sum_s": 1.5423414260149002 |
| }, |
| "variant": "baseline" |
| } |
| ] |
| } |
|
|
