Sync GitHub main 6bb97fb9a95926f8118bd61bec366af28afa0e5c (part 2)
Browse files- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/archive-index.json +48 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/freeze.json +465 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/integrity.json +282 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/manifest.json +37 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/outcomes.json +842 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/pip-freeze.txt +29 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/raw-traces.zip +3 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/report.md +64 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/result.json +119 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/review_request.json +12 -0
- research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/sha256sums.json +47 -0
research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/archive-index.json
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{
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research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/freeze.json
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"causal_intervention": "Record same-seed unperturbed closed-loop donor first. Freeze its sensor tape before any challenge run. Challenge yoked controller consumes this tape without access to the challenged body's sensors. Closed loop receives current challenged-body sensors. No shifted tape, different targets, learning or condition-specific tuning.",
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"claim_boundary": "Fixed engineered error receptors and fixed spike-to-torque decoder in a synthetic one-joint world. This tests access to challenge-contingent feedback, not biological equivalence, independent replication, learned body schema, general intelligence or 5D merit. PD arm is attribution reference, not matched neural mechanism.",
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"pd_challenge"
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],
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"disturbance": "Even seed: +0.003 Nm; odd seed: -0.003 Nm, ticks [250,500); zero otherwise. Identical schedule in all four challenge arms. Donor and yoked-unperturbed arms receive zero torque.",
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"clean committed source before execution",
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"120 complete runs of 1000 ticks",
|
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"no runtime errors",
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"same initial neural/body state and graph within seed",
|
| 417 |
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"unperturbed yoked trace equals donor trace",
|
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|
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|
| 420 |
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"all challenge arms receive identical disturbance schedule",
|
| 421 |
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|
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"nonzero disturbance changes yoked physical trajectory"
|
| 423 |
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],
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"mode": "PROSPECTIVE_EXPLORATORY_CAUSAL_DIAGNOSTIC",
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|
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| 431 |
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"full-window tracking RMSE",
|
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"feedback_absent_challenge minus closed_challenge",
|
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"pd_challenge minus closed_challenge",
|
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"sensor-path RMS",
|
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"motor command tapes"
|
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],
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94001,
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94002,
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94003,
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research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/integrity.json
ADDED
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@@ -0,0 +1,282 @@
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| 1 |
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[
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| 62 |
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| 259 |
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"donor_observations_exact": true,
|
| 260 |
+
"graph_equal": true,
|
| 261 |
+
"initial_body_equal": true,
|
| 262 |
+
"initial_neural_equal": true,
|
| 263 |
+
"sentinel_exact": true,
|
| 264 |
+
"yoked_commands_unchanged": true
|
| 265 |
+
},
|
| 266 |
+
"seed": 94019
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"checks": {
|
| 270 |
+
"absent_zero": true,
|
| 271 |
+
"body_responds_to_disturbance": true,
|
| 272 |
+
"complete": true,
|
| 273 |
+
"donor_observations_exact": true,
|
| 274 |
+
"graph_equal": true,
|
| 275 |
+
"initial_body_equal": true,
|
| 276 |
+
"initial_neural_equal": true,
|
| 277 |
+
"sentinel_exact": true,
|
| 278 |
+
"yoked_commands_unchanged": true
|
| 279 |
+
},
|
| 280 |
+
"seed": 94020
|
| 281 |
+
}
|
| 282 |
+
]
|
research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/manifest.json
ADDED
|
@@ -0,0 +1,37 @@
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"experiment_id": "EXP-EMB001B-UNSEEN-V4-20261024",
|
| 3 |
+
"experiment_status": "completed",
|
| 4 |
+
"research_questions": [
|
| 5 |
+
"RQ-EMB-001"
|
| 6 |
+
],
|
| 7 |
+
"hypotheses": [
|
| 8 |
+
"H-EMB-001-B"
|
| 9 |
+
],
|
| 10 |
+
"mode": "PROSPECTIVE_EXPLORATORY_CAUSAL_DIAGNOSTIC",
|
| 11 |
+
"git": {
|
| 12 |
+
"commit": "fdfd0568f096b44e91ac16cf57299fcc823fca32",
|
| 13 |
+
"dirty": false
|
| 14 |
+
},
|
| 15 |
+
"validity": {
|
| 16 |
+
"valid": true,
|
| 17 |
+
"runtime_error_count": 0,
|
| 18 |
+
"fatal_error_count": 0
|
| 19 |
+
},
|
| 20 |
+
"scientific_evidence": false,
|
| 21 |
+
"automatic_evidence_promotion": false,
|
| 22 |
+
"human_review_status": "PENDING",
|
| 23 |
+
"independent_replication": false,
|
| 24 |
+
"results": {
|
| 25 |
+
"run_count": 120,
|
| 26 |
+
"paired_seeds": 20,
|
| 27 |
+
"ticks_per_run": 1000
|
| 28 |
+
},
|
| 29 |
+
"artifacts": {
|
| 30 |
+
"freeze": "freeze.json",
|
| 31 |
+
"data": "raw-traces.zip",
|
| 32 |
+
"statistics": "result.json",
|
| 33 |
+
"report": "report.md",
|
| 34 |
+
"checksums": "sha256sums.json",
|
| 35 |
+
"archive_index": "archive-index.json"
|
| 36 |
+
}
|
| 37 |
+
}
|
research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/outcomes.json
ADDED
|
@@ -0,0 +1,842 @@
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| 714 |
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| 719 |
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| 726 |
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| 727 |
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| 728 |
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| 731 |
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| 733 |
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"error": null,
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| 740 |
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| 741 |
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| 744 |
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{
|
| 745 |
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|
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|
| 747 |
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| 748 |
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| 749 |
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"seed": 94018
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| 750 |
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| 751 |
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{
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| 752 |
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"condition": "pd_challenge",
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| 753 |
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"error": null,
|
| 754 |
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"full_rmse": 0.19812694593774807,
|
| 755 |
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| 756 |
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"seed": 94018
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},
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| 758 |
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{
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| 759 |
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"condition": "donor_unperturbed",
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| 760 |
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"error": null,
|
| 761 |
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"full_rmse": 0.13472724082448737,
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| 763 |
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"seed": 94019
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},
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{
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"error": null,
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| 768 |
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| 769 |
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| 770 |
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"seed": 94019
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| 771 |
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},
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{
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| 773 |
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| 775 |
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| 777 |
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| 782 |
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},
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{
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| 787 |
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| 788 |
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"error": null,
|
| 789 |
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| 790 |
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| 791 |
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"seed": 94019
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},
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{
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| 794 |
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"condition": "pd_challenge",
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| 795 |
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"error": null,
|
| 796 |
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"full_rmse": 0.15004062199040996,
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| 798 |
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"seed": 94019
|
| 799 |
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},
|
| 800 |
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{
|
| 801 |
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"condition": "donor_unperturbed",
|
| 802 |
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"error": null,
|
| 803 |
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"full_rmse": 0.1441556203116032,
|
| 804 |
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"post_disturbance_rmse": 0.14656180698746565,
|
| 805 |
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"seed": 94020
|
| 806 |
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},
|
| 807 |
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{
|
| 808 |
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"condition": "yoked_unperturbed",
|
| 809 |
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"error": null,
|
| 810 |
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"full_rmse": 0.1441556203116032,
|
| 811 |
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|
| 812 |
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"seed": 94020
|
| 813 |
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},
|
| 814 |
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{
|
| 815 |
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"condition": "closed_challenge",
|
| 816 |
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"error": null,
|
| 817 |
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"full_rmse": 0.16332483747639004,
|
| 818 |
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"post_disturbance_rmse": 0.17128701884980266,
|
| 819 |
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"seed": 94020
|
| 820 |
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},
|
| 821 |
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{
|
| 822 |
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"condition": "yoked_challenge",
|
| 823 |
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"error": null,
|
| 824 |
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"full_rmse": 0.36871600028254986,
|
| 825 |
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"post_disturbance_rmse": 0.4183792831829536,
|
| 826 |
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"seed": 94020
|
| 827 |
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},
|
| 828 |
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{
|
| 829 |
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"condition": "feedback_absent_challenge",
|
| 830 |
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"error": null,
|
| 831 |
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"full_rmse": 0.4744253434295208,
|
| 832 |
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"post_disturbance_rmse": 0.5297750962434326,
|
| 833 |
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"seed": 94020
|
| 834 |
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},
|
| 835 |
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{
|
| 836 |
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"condition": "pd_challenge",
|
| 837 |
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"error": null,
|
| 838 |
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"full_rmse": 0.20457685828763797,
|
| 839 |
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"post_disturbance_rmse": 0.2116090752564552,
|
| 840 |
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"seed": 94020
|
| 841 |
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}
|
| 842 |
+
]
|
research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/pip-freeze.txt
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Brian2==2.10.1
|
| 2 |
+
colorama==0.4.6
|
| 3 |
+
contourpy==1.4.0
|
| 4 |
+
cycler==0.12.1
|
| 5 |
+
Cython==3.1.3
|
| 6 |
+
defusedxml==0.7.1
|
| 7 |
+
fonttools==4.67.0
|
| 8 |
+
iniconfig==2.3.1
|
| 9 |
+
Jinja2==3.1.6
|
| 10 |
+
kiwisolver==1.5.1
|
| 11 |
+
MarkupSafe==3.0.4
|
| 12 |
+
matplotlib==3.11.2
|
| 13 |
+
mpmath==1.3.0
|
| 14 |
+
numpy==2.5.4
|
| 15 |
+
packaging==26.3
|
| 16 |
+
pillow==13.0.0
|
| 17 |
+
pip==26.1.2
|
| 18 |
+
pluggy==1.7.0
|
| 19 |
+
psutil==7.2.2
|
| 20 |
+
py-cpuinfo==9.0.0
|
| 21 |
+
Pygments==2.21.0
|
| 22 |
+
pyparsing==3.3.3
|
| 23 |
+
pytest==9.1.1
|
| 24 |
+
python-dateutil==3.0.0
|
| 25 |
+
PyYAML==6.0.3
|
| 26 |
+
setuptools==84.2.1
|
| 27 |
+
six==1.17.0
|
| 28 |
+
sympy==1.14.0
|
| 29 |
+
tzdata==2026.5
|
research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/raw-traces.zip
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:720f50d798fe2299c07548e6fb54eaabb6f7945153a91339ac8e5338cd368230
|
| 3 |
+
size 11329904
|
research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/report.md
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Unseen-disturbance closed-loop/yoked comparison
|
| 2 |
+
|
| 3 |
+
2026-10-24. **COMPLETED_EXPLORATORY_DATA; HUMAN_REVIEW_PENDING.**
|
| 4 |
+
RQ-EMB-001 / H-EMB-001-B; protocol PREREG-EMB001B-UNSEEN-V4.
|
| 5 |
+
Source frozen before execution: `fdfd0568f096b44e91ac16cf57299fcc823fca32`.
|
| 6 |
+
The clean-source check passed before and after execution. CPython 3.13.14,
|
| 7 |
+
Windows 11, PYTHONHASHSEED=0; complete environment/commands in `freeze.json`
|
| 8 |
+
and `pip-freeze.txt`. No historical DATA or EVID status was changed.
|
| 9 |
+
|
| 10 |
+
## Intervention and result
|
| 11 |
+
|
| 12 |
+
For each of 20 seeds, first record an unperturbed closed-loop sensor tape.
|
| 13 |
+
Replay receives that frozen tape; live feedback receives the actual current
|
| 14 |
+
body sensors. Both challenged bodies receive the same external torque,
|
| 15 |
+
±0.003 Nm over ticks 250–499 (ten seeds per sign). Six conditions and 1,000
|
| 16 |
+
ticks per condition produce 120 runs. The target, initial neural/body state,
|
| 17 |
+
graph, fixed receptor and decoder parameters are matched within seed.
|
| 18 |
+
|
| 19 |
+
Primary endpoint is tracking RMSE on ticks 250–999. Mean values in radians:
|
| 20 |
+
|
| 21 |
+
| Condition | RMSE |
|
| 22 |
+
| --- | ---: |
|
| 23 |
+
| Live closed-loop, challenged | 0.14611949 |
|
| 24 |
+
| Frozen yoked tape, challenged | 0.34670261 |
|
| 25 |
+
| Feedback absent, challenged | 0.52945445 |
|
| 26 |
+
| PD-only controller, challenged | 0.18385742 |
|
| 27 |
+
| Unperturbed donor | 0.14016236 |
|
| 28 |
+
| Unperturbed yoked sentinel | 0.14016236 |
|
| 29 |
+
|
| 30 |
+
Primary paired difference (yoked minus live) is positive for 20/20 seeds:
|
| 31 |
+
mean 0.20058312 rad, range 0.15286834–0.24810907. Sign-stratified means are
|
| 32 |
+
0.24449186 for positive and 0.15667437 for negative torque. These are
|
| 33 |
+
descriptive paired observations, not p-values or population-level confidence.
|
| 34 |
+
|
| 35 |
+
All integrity checks passed: 120 complete error-free runs; equal initial
|
| 36 |
+
states and graph; exact unperturbed donor/sentinel traces; challenged replay
|
| 37 |
+
observes the frozen donor tape and emits exactly the donor's motor commands;
|
| 38 |
+
its physical trajectory nevertheless changes under the disturbance. Feedback
|
| 39 |
+
absent receives zeros. The same explicit schedule is passed to each challenge
|
| 40 |
+
arm by the frozen runner. Per-tick traces are retained for audit.
|
| 41 |
+
|
| 42 |
+
This addresses the earlier exact-yoke equality: replay of a trajectory exposed
|
| 43 |
+
to the same disturbance can be observationally equivalent. Here the donor
|
| 44 |
+
does not contain the later challenge. Live feedback can depend on the
|
| 45 |
+
challenged body, while replay cannot. The result supports this bounded
|
| 46 |
+
feedback-contingency effect in the engineered fixture. It does not attribute
|
| 47 |
+
the effect to learning or an emergent body schema. The PD arm is an attribution
|
| 48 |
+
reference, not a matched neural or optimized-controller benchmark.
|
| 49 |
+
|
| 50 |
+
## Provenance, packaging and limitations
|
| 51 |
+
|
| 52 |
+
`outcomes.json`, `integrity.json`, `result.json` contain compact results.
|
| 53 |
+
`raw-traces.zip` stores all donor and six-arm per-seed traces without loss;
|
| 54 |
+
`archive-index.json` binds the ZIP and `sha256sums.json` binds its original
|
| 55 |
+
uncompressed members as well as the remaining execution artifacts. All
|
| 56 |
+
checksums were verified after packaging. The 80.8 MB original output remains
|
| 57 |
+
outside the repository; compression occurred only after measurement.
|
| 58 |
+
|
| 59 |
+
The resource/time ceiling was checked after each paired-seed block, not by
|
| 60 |
+
an OS-enforced interruption mid-run. No ceiling was exceeded. This exploratory
|
| 61 |
+
run uses a fixed synthetic six-neuron controller on one machine and does not
|
| 62 |
+
establish biological equivalence, real-device transfer, general robustness,
|
| 63 |
+
independent replication or confirmatory EVID. Human scientific review and
|
| 64 |
+
canonical evidence promotion remain pending.
|
research/experiments/EXP-EMB001B-UNSEEN-V4-20261024/result.json
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"paired_differences": [
|
| 3 |
+
{
|
| 4 |
+
"difference": 0.15847412687186285,
|
| 5 |
+
"seed": 94001
|
| 6 |
+
},
|
| 7 |
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{
|
| 8 |
+
"difference": 0.24810907069102034,
|
| 9 |
+
"seed": 94002
|
| 10 |
+
},
|
| 11 |
+
{
|
| 12 |
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"difference": 0.15628715841946672,
|
| 13 |
+
"seed": 94003
|
| 14 |
+
},
|
| 15 |
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{
|
| 16 |
+
"difference": 0.24209142510386852,
|
| 17 |
+
"seed": 94004
|
| 18 |
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},
|
| 19 |
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{
|
| 20 |
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"difference": 0.15628207237723013,
|
| 21 |
+
"seed": 94005
|
| 22 |
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},
|
| 23 |
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{
|
| 24 |
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"difference": 0.24514224743888754,
|
| 25 |
+
"seed": 94006
|
| 26 |
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},
|
| 27 |
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{
|
| 28 |
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"difference": 0.15616288114601595,
|
| 29 |
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"seed": 94007
|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
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"difference": 0.24449140694284835,
|
| 33 |
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"seed": 94008
|
| 34 |
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},
|
| 35 |
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{
|
| 36 |
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"difference": 0.15902666623206446,
|
| 37 |
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"seed": 94009
|
| 38 |
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},
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| 39 |
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{
|
| 40 |
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"difference": 0.24212359101460929,
|
| 41 |
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"seed": 94010
|
| 42 |
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},
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