{ "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" } ] }